Integral HOSM Semiglobal Controller for Finite-Time Exact Compensation of Unmatched Perturbations

Estrada, Antonio

doi:10.1109/tac.2010.2067270

Cited by 58 publications

(32 citation statements)

References 24 publications

(45 reference statements)

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“…is obtained from (5). It is obvious that the control input does not suffer from chattering and the gain   K t is always greater than the uncertainty   / z t b , which clearly shows that the proposed adaptive algorithm successfully updates the gain without knowledge of the bounds on the uncertainties.…”

Section: Numerical Examplementioning

confidence: 91%

“…However, these approaches sometimes do not completely remove chattering as noted in [3] and are not adequate for the stability proof of the controlled system. A more elegant method that alleviate chattering is to introduce high-order sliding mode control (HOSMC) [4][5][6]. However, the discontinuous structure is still used in the controller design of this approach, thereby causing a little chattering though it is considerably disappeared.…”

Section: Introductionmentioning

confidence: 99%

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Gain adaptation for continuous sliding mode control

Cho

2016

2016 2nd International Conference on Control Science and Systems Engineering (ICCSSE)

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Abstract-In this paper a novel adaptive sliding mode controller design is presented for robust control of nonlinear uncertain systems. A continuous control law to compensate for the uncertainties is first developed that is completely free from chattering. Focusing on the relation between the tried gain value and the resultant sliding variable, a new method for estimating the uncertainty bounds is then derived, leading to an adaptive law for gain-tuning by which the error eventually lies within a user-specified region in a finite time. Unlike other existing approaches, the new adaptive rule only requires the magnitude of the control input in the previous time step, which greatly eases the application of the proposed algorithm to real-world systems. An inverted pendulum system is simulated to demonstrate the accuracy and effectiveness of the proposed control strategy.

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Section: Numerical Examplementioning

confidence: 91%

Section: Introductionmentioning

confidence: 99%

Gain adaptation for continuous sliding mode control

Cho

2016

2016 2nd International Conference on Control Science and Systems Engineering (ICCSSE)

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“…5 For this illustration, a constant disturbance d = 0:5 is applied at t = 2 s and the initial state value is x(0) = ½0, 0 T . For comparison studies, four methods including improved nonlinear sliding mode control (INSMC), 29 the DO-SMC, 5 EDO-MSMC 6 , and the EDO-ASMC are employed in the control design for system (24). The control parameters of all the four control methods are listed in Table 1.…”

Section: Examplementioning

confidence: 99%

Disturbance attenuation–based sliding mode control with disturbance observer for mismatched uncertain system

Guo

Liu

Cheng

et al. 2017

Advances in Mechanical Engineering

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A disturbance attenuation-based sliding mode control approach with an extended disturbance observer is proposed for systems with mismatched uncertainties. A novel adaptive sliding surface consisting of the disturbance estimation is presented to eliminate the effect of mismatched disturbance in the sliding mode. The proposed method exhibits the following two attractive features. First, the asymptotical stability of adaptive sliding mode can be guaranteed even if the disturbance estimation error of the disturbance observer exists. Second, the nominal performance of the proposed approach is close to that of the traditional sliding mode control method in the absence of uncertainties. Finally, simulation results of the numerical and application examples show that the proposed nonlinear sliding mode control approach has the better dynamic performance as well as robustness and chattering reduction compared with other nonlinear sliding mode control methods.

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“…Theorem 1 Given the nonlinear uncertain system (1) controlled by (9), the state trajectories of (1) Proof. Substituting (9) into (8), one gets…”

Section: Chattering-free Sliding Mode Controlmentioning

confidence: 99%

“…Some problems can be handled using this approach, but the existence of the PID control gains satisfying the reachability condition is not always guaranteed. Another method to suppress the chattering phenomenon is to use higher order sliding mode control (HOSMC) [8][9] or the super twisting algorithm [10]. Although HOSMC indeed reduces chattering, its algorithm is generally complicated to realize in real, actual systems.…”

Section: Introductionmentioning

confidence: 99%

Simple adaptive methodology for chattering-free sliding mode control

Cho

Kerschen

2016

2016 14th International Workshop on Variable Structure Systems (VSS)

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Abstract-This paper presents a new adaptive methodology for sliding mode control of a nonlinear dynamical system in the presence of unknown, but bounded uncertainties. A continuous control law is first developed to compensate for the uncertainties and this Lyapunov-based approach eliminates chattering by replacing a discontinuous signum function with a continuous function. By investigating the relation between the estimated gain with respect to the real unknown uncertainties and the resultant sliding variable, a new adaptive tuning law is obtained to ensure that the gain update is performed in real time and the resulting error is bounded within a user-specified value. The proposed adaptive algorithm is simple and easy to implement, and an inverted pendulum problem serves to demonstrate the accuracy and effectiveness of the control methodology proposed herein.

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Integral HOSM Semiglobal Controller for Finite-Time Exact Compensation of Unmatched Perturbations

Cited by 58 publications

References 24 publications

Gain adaptation for continuous sliding mode control

Gain adaptation for continuous sliding mode control

Disturbance attenuation–based sliding mode control with disturbance observer for mismatched uncertain system

Simple adaptive methodology for chattering-free sliding mode control

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