Design of an explicit constrained predictive sliding mode controller

Pérez, Mercedes; Jiménez‐Macías, Emilio; Camacho, Eduardo F.

doi:10.1049/iet-cta.2009.0057

Cited by 16 publications

(15 citation statements)

References 31 publications

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“…Feasibility of the constrained optimization problem in Eqs. (29), (30), (22)-(24) at sample time k ¼ 0 for the nominal system with no disturbances implies feasibility at every sample time k > 0.…”

Section: Minimum-time Problemsmentioning

confidence: 99%

“…For the closed-loop cascade control structure with the minimum-time objective function in Eq. (29) subject to the constraints in Eqs. (22)-(24), (30) and no disturbances, the final state satisfies the terminal constraint in time t < t fo for all feasible initial states.…”

Section: Minimum-time Problemsmentioning

confidence: 99%

“…Model predictive and sliding mode control approaches have been previously combined to produce more effective controllers [28][29][30]. However, none seem suitable for underactuated nonlinear mechanical systems with fast dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…Garcia-Gabin and Camacho [28] developed a predictive sliding mode controller for nonlinear nonminimum phase systems and demonstrated considerable improvements in terms of stability and robustness in a reactor system example compared with MPC. Perez et al [29] introduced a predictive sliding mode controller to improve performance and robustness of nonlinear processes that can be represented as first order system plus a dead time.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Optimal Sliding Mode Cascade Control for Stabilization of Underactuated Nonlinear Systems

Muske

Ashrafiuon

Nersesov

et al. 2012

Journal of Dynamic Systems, Measurement, and Control

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This paper presents an optimal sliding mode cascade control for stabilization of a class of underactuated nonlinear mechanical systems. A discrete-time, nonlinear model predictive control structure is used to optimally select and update the parameters of the sliding mode control surfaces at specified intervals in order to achieve a desired performance objective. The determination of these surface parameters is subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as input saturation. Nominal stability of the optimal cascade control structure is demonstrated and its robust performance is illustrated using an experimental rotary inverted pendulum system.

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Section: Minimum-time Problemsmentioning

confidence: 99%

Section: Minimum-time Problemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Optimal Sliding Mode Cascade Control for Stabilization of Underactuated Nonlinear Systems

Muske

Ashrafiuon

Nersesov

et al. 2012

Journal of Dynamic Systems, Measurement, and Control

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show abstract

“…In mechanical systems this control objective becomes difficult when the system motion is constrained by phenomena like backlash. In the last decade, this problem has been intensely studied and research efforts have been made to control systems with different types of constraints (Mansard and Khatib, 2008;Potini et al, 2006;Perez et al, 2010). Nonetheless, parameter variations and disturbances are not frequently considered.…”

mentioning

confidence: 99%

Regulation control of an underactuated mechanical system with discontinuous friction and backlash

Rascón

Almeida

Hernández-Balbuena

2017

International Journal of Applied Mathematics and Computer Science

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In this work, the problem of position regulation control is addressed for a 2DOF underactuated mechanical system with friction and backlash. For this purpose, a method combining sliding mode and H∞ control is developed. We prove that the application of the method to the nonlinear model considered results in an asymptotically stable equilibria set. Moreover, it is possible to achieve a sufficiently small and bounded steady-state position error even in the presence of disturbances by employing the proposed technique. That is, the developed controller is able to account not only for unmatched external perturbations and model discrepancies of the test rig considered, but also for matched bounded perturbations. The control methodology is presented from both the theoretical and experimental angles to demonstrate the good performance of the proposed controller.

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Design of sliding mode control for neutral delay systems with perturbation in control channels

Niu

Jia

Huang

et al. 2011

Optim Control Appl Methods

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SUMMARYThis paper considers the problem of sliding mode control for a class of uncertain neutral delay systems. There are uncertainties not only in the state matrices, but also in the control matrix that results from perturbation in the control channels. By means of a sliding surface dependent on both the current states and delayed states, a sliding mode controller is designed such that the asymptotic stability of closed-loop systems can be ensured. The design of both the sliding surface and the sliding mode controller can be obtained via convex optimization. It is shown that the state trajectories are driven onto the specified sliding surface in finite time and remain there for subsequent time. Finally, a numerical simulation example is provided.

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Design of an explicit constrained predictive sliding mode controller

Cited by 16 publications

References 31 publications

Optimal Sliding Mode Cascade Control for Stabilization of Underactuated Nonlinear Systems

Optimal Sliding Mode Cascade Control for Stabilization of Underactuated Nonlinear Systems

Regulation control of an underactuated mechanical system with discontinuous friction and backlash

Design of sliding mode control for neutral delay systems with perturbation in control channels

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