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

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 within the 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.

Robust Decentralized Adaptive Fuzzy Integral Sliding Mode Control of Mismatched Uncertain Large-scale Systems

“…Therefore, the objective of this section is the design of a state feedback gain Ki for every subsystem Ei. This gain guarantees the stability of the closed loop system while satisfying the H∞ constraint ii i éù XQ êú < êú *Y êú ëû (18) where:…”

“…Moreover, the decentralized SMC of interconnected nonlinear has been considered. Indeed, the case of nonlinear systems in regular form has been envisaged in [18,19] and the control of complex large-scale systems with non-smooth nonlinearities has been carried out in [20]. The advantages and the faculties of SMC have been confirmed in [21] by the real-time implementation of decentralized control scheme on a twin-rotor system.…”

String exponential stability analysis and control of vehicular platoons with bounded unknown parameters and time delays

“…Vehicular platoons have the potential to greatly enhance road utilization, safety, and fuel consumption, serving as a possible solution to the growing problem of traffic congestion and environmental pollution. 1–3 Platoons mandate vehicles in the same lane to follow the preceding vehicle with a set inter-vehicle space at the same speed. 4 Swaroop 5 defined strict concepts of string stability and their relationships with error propagation transfer functions to achieve the aforesaid requirements.…”

“…Based on the adaptive sliding mode control mechanism, Kwon and Chwa 21 compensated uncertainties and the interference of bidirectional techniques. Mu et al 1 presented a decentralized control solution based on sliding mode techniques to deal with matched uncertainties and interconnections. Guo et al 22,23 developed a distributed adaptive integral sliding mode control policy for nonlinear acceleration uncertainty.…”

Discrete‐time decentralized linear quadratic control for linear time‐varying systems

“…The popularity of decentralized solutions is also increasing with the widening of its applications to a broad range of engineering fields. Examples of such applications are unmanned aircraft formation flight, 3‐7 unmanned underwater formations, 8‐12 satellite constellations, 13‐16 automated highway control, 17‐20 and irrigation networks, 21‐24 which can be modeled as networks of interconnected systems 25,26 …”