Multivariable sliding mode approach with enhanced robustness properties based on the robust internal-loop compensator for a class of nonlinear mechanical systems

Salihbegovic, Almir

doi:10.1109/ecc.2016.7810315

Cited by 3 publications

(9 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This section describes the typical MIMO numerical example [8] subjected to mismatched disturbances, in order to show superior tracking performance of the RIC based I-SMC method [38] in compensation of mismatched disturbances, which are time-varying and non-vanishing with non-constant steady-state values. Furthermore, comparison analysis with the concurrent control methods for mismatched uncertainties compensation is presented.…”

Section: A Motivational Examplementioning

confidence: 99%

“…to be imposed on the system (1) in order to compare disturbance attenuation characteristics of the following control algorithms: the baseline NDOBC (without SMC) technique [8], the NDOB based I-SMC scheme [15], the baseline I-SMC (without DOB) [15], [38] and the RIC based I-SMC method [38].…”

Section: A Motivational Examplementioning

confidence: 99%

“…where the control vectors u eq (x) and u con (x) are defined the same as in the I-SMC algorithm (21). The estimation control term u est (x) is designed such that the RIC emulates the first-order low-pass filter in the DOB framework [34], [38]…”

Section: Ric Based I-smcmentioning

confidence: 99%

“…However, the RIC stability analysis is originally presented only for linear systems [30]- [36]. By synthesizing the RIC framework with Lyapunov based redesign, the RIC based I-SMC method is introduced for single-input, single-output (SISO) [37] and MIMO [38] electromechanical systems, ensuring the finite-time convergence of the system trajectories to the particular sliding surface, as well as the uniformly ultimate boundedness of the system solutions.…”

Section: Introductionmentioning

confidence: 99%

“…The paper is structured as follows. Section II introduces the typical MIMO numerical example in order to illustrate susceptibility of the baseline I-SMC (without DOB) and baseline NDOBC (without SMC) [8] methods, as well as insensitivity of the NDOB based I-SMC [15] and the RIC based I-SMC [38] techniques to time-varying and non-vanishing mismatched disturbances. In Section III the unified SMRIC method is proposed for a class of MIMO nonlinear electromechanical systems using Lyapunov based redesign.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Robust Internal-Loop Compensator Based Sliding Mode Control of Nonlinear Systems in the Presence of Mismatched Disturbances

Salihbegovic

2019

IEEE Access

Self Cite

View full text Add to dashboard Cite

This paper introduces the robust internal-loop compensator based sliding mode control (SMRIC) scheme for multiple-input multiple-output (MIMO) nonlinear systems subjected to mismatched uncertainties, which are time-varying and non-vanishing with non-constant steady-state values. The proposed approach extends an application area of the robust internal-loop compensator (RIC), as well as a class of mismatched uncertainties that could be imposed on the system. The developed SMRIC technique allows substantial alleviation of the chattering phenomenon in the presence of disturbances while retaining the nominal performance of the system in the absence of disturbances. The stability analysis of the closed-loop system is performed using the Lyapunov-based approach. The proposed SMRIC method guarantees the finite-time convergence of the system trajectories to the sliding surface and provides asymptotic stability of the equilibrium. The simulation results of the numerical example and both simulation and experimental results of the application example show that the proposed SMRIC technique exhibits, in comparison with the concurrent algorithms, excellent tracking performance and robustness properties in the presence of modeling uncertainties, parameter variations, external disturbances, and mismatched uncertainties.

show abstract

Section: A Motivational Examplementioning

confidence: 99%