Decentralised sliding mode control for a class of nonlinear interconnected systems

Abstract

Abstract-In this paper, a decentralised control strategy based on sliding mode techniques is proposed for a class of nonlinear interconnected systems. Both matched uncertainties in the isolated subsystems and mismatched uncertainties associated with the interconnections are considered. Under mild conditions, sliding mode controllers for each subsystem are designed in a decentralised manner by only employing local information. Conditions are determined which enable information on the interconnections to be employed in decentralised controller design to reduce conservatism. The developed results are applied to an automated highway system. Simulation results pertaining to a high-speed following system are presented to demonstrate the effectiveness of the approach.

Nonlinear Sliding Mode Control for Interconnected Systems With Application to Automated Highway Systems

“…for system (1) based on sliding mode techniques such that the corresponding closed-loop system formed by applying the controllers (5) to the system (1) is asymptotically stable. From (5), it can be seen that the local controller u i in the i-th subsystem can only access the states of the i-th subsystem.…”

“…A class of complex systems, including multi-machine power systems [1], automated highway systems [2] and multi-agent systems [3], [4], can be modelled as a collection of subsystems with appropriate interconnections [8], [5]. Such classes of systems are called large scale interconnected systems.…”

Neural Adaptive Sliding-Mode Control of a Vehicle Platoon Using Output Feedback

“…In recent years, many researchers have focused on the vehicle platoon control from different perspectives, such as node dynamics (ND) [6][7][8][9][10], information flow topology (IFT) [11][12][13][14][15], formation geometry (FG) [16,17], control methods (CM) [18][19][20][21][22][23][24][25][26] and platoon performance (PP) [27][28][29]. To the best of our knowledge, many vehicle platoon control algorithms adopt the full state feedback technique, which means that the designed algorithm needs the position, velocity and acceleration information for a second-order system, to achieve closed-loop control.…”

Decentralised Sliding Mode Control for Nonlinear Interconnected Systems in the Generalised Regular Form

“…In this paper, a nonlinear decentralised control strategy for a class of nonlinear interconnected systems in generalised regular form is proposed based on a sliding mode control paradigm. The interconnected system is fully nonlinear, and the form of the system is more general than the system with the classical regular form considered in Mu et al (2015b). Moreover, the uncertainties are assumed to be bounded by known functions which are employed in the control design to counteract the effects of the uncertainties on the controlled interconnected system.…”