Robust adaptive sliding mode control for uncertain nonlinear MIMO system with guaranteed steady state tracking error bounds

Li, Peng; Ma, Jianjun; Zhang, Zhiqiang

doi:10.1016/j.jfranklin.2015.11.005

Cited by 63 publications

(38 citation statements)

References 26 publications

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“…Pre-and post-multiplying both sides of (A8) by diag I; P À1 ; Ω À1 Â Ã and letting X = P À1 , W = K 1 P À1 , M = Ω À1 , it yields the linear matrix inequality (7). Moreover, taking K 1 ¼ ÀL T 1 and W = K 1 P À1 , the observer gain matrix L 1 can be obtained in (9). The proof is completed.…”

mentioning

confidence: 89%

“…Hence, the problem of robust stabilization and tracking control for uncertain nonlinear systems has been widely investigated. Over the past decades, a range of research has been undertaken in this field . However, these studies assumed that all system states are known.…”

Section: Introductionmentioning

confidence: 99%

“…It is well known that SMC is an effective robust control scheme and has been extensively used to improve the stability, performance, and robustness of uncertain linear and nonlinear systems. Many studies on adaptive SMC have been presented in the literature . However, none of the above methods can deal with the robustness against parameter uncertainties, time‐delays, and input nonlinearity by using partial known state information in discrete‐time domain.…”

Section: Introductionmentioning

confidence: 99%

“…Over the past decades, a range of research has been undertaken in this field. [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16] However, these studies assumed that all system states are known. From a practical point of view, the system states may not be available and only the system outputs can be measured in many systems.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Observer‐Based Global Sliding Mode Control for Uncertain Discrete‐Time Nonlinear Systems with Time‐Delays and Input Nonlinearity

Pai

2018

Asian Journal of Control

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A new discrete‐time adaptive global sliding mode control (SMC) scheme combined with a state observer is proposed for the robust stabilization of uncertain nonlinear systems with mismatched time delays and input nonlinearity. A state observer is developed to estimate the unmeasured system states. By using Lyapunov stability theorem and linear matrix inequality (LMI), the condition for the existence of quasi‐sliding mode is derived and the stability of the overall closed‐loop system is guaranteed. Finally, simulation results are presented to demonstrate the validity of the proposed scheme.

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mentioning

confidence: 89%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive Observer‐Based Global Sliding Mode Control for Uncertain Discrete‐Time Nonlinear Systems with Time‐Delays and Input Nonlinearity

Pai

2018

Asian Journal of Control

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“…It means that α 1 increases according to (29) until (24) is met. After that the finite-time convergence is guaranteed in accordance with (28) and (29), and the sliding variable σ Θ and its derivative _ σ Θ can be derived to zero in finite time…”

Section: Remarkmentioning

confidence: 99%

Adaptive-gain multivariable super-twisting sliding mode control for reentry RLV with torque perturbation

Dong

Zong

Tian

et al. 2016

Int. J. Robust. Nonlinear Control

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Summary Reusable launch vehicle (RLV) should be under control in the presence of model uncertainty and external disturbance, which is considered as torque perturbation in this paper during the reentry phase. Such a challenge imposes tight requirements to the enhanced robustness and accuracy of the vehicle autopilot. The key of this paper is to propose an adaptive‐gain multivariable super‐twisting sliding mode controller when considering that the bounds of uncertainty and perturbation are not known. The important features of the controller are that the adaptation algorithm can achieve non‐overestimating values of the control gains and the multivariable super‐twisting sliding mode approach can obtain a more elegant solution in finite time. According to the multiple‐time scale features, the dynamics of RLV attitude motion are divided into outer‐loop subsystem and inner‐loop subsystem. On this basis, the controllers are designed respectively to ensure the finite‐time reentry attitude tracking. In addition, a proof of the finite‐time convergence for the overall system is derived using the Lyapunov function technique and multiple‐time scale characteristic. Finally, simulation results of six degree‐of‐freedom RLV are provided to verify the effectiveness and robustness of the proposed controller in tracking the guidance commands as well as achieving a safe and stable reentry flight. Copyright © 2016 John Wiley & Sons, Ltd.

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Event‐based adaptive sliding mode control for Euler–Lagrange systems with parameter uncertainties and external disturbances

Wang

Hao

2022

Intl J Robust & Nonlinear

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This article studies the robust tracking control problem for a class of uncertain Euler-Lagrange systems. An adaptive sliding mode control strategy is proposed to address the robust stability of the closed-loop systems with external disturbances and parameter uncertainties. An adaptive parameter estimator is constructed in the sensor node to deal with the unknown bound of uncertainties, and an event-triggering detector is located between the sensor node and the controller node. The introduction of event-triggering condition is introduced, reducing the utilization on communication resources and the number of control execution. In this event-triggered strategy, the closed-loop systems reach the practical sliding mode band and the band could be adjusted. Moreover, the event-triggering condition can make sure that Zeno behavior does not occur. Finally, simulation results on 2-link robotic manipulator are provided to illustrate the effectiveness and feasibility of the proposed control scheme.

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Robust adaptive sliding mode control for uncertain nonlinear MIMO system with guaranteed steady state tracking error bounds

Cited by 63 publications

References 26 publications

Adaptive Observer‐Based Global Sliding Mode Control for Uncertain Discrete‐Time Nonlinear Systems with Time‐Delays and Input Nonlinearity

Adaptive Observer‐Based Global Sliding Mode Control for Uncertain Discrete‐Time Nonlinear Systems with Time‐Delays and Input Nonlinearity

Adaptive-gain multivariable super-twisting sliding mode control for reentry RLV with torque perturbation

Event‐based adaptive sliding mode control for Euler–Lagrange systems with parameter uncertainties and external disturbances

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