Tracking nonlinear non-minimum phase systems using sliding control

Abstract-A fully linearizable single-input-single-output relative-degree n system with an output time delay is considered in this paper. Using the approach of Padé approximation, system center approach, and second-order sliding-mode (SM) control, we have obtained good output tracking results. The Smith predictor is used to compensate the difference between the actual delayed output and its approximation. A second-order supertwisting SM observer observes the disturbance in the plant. A nonlinear example is studied to show the effect of this methodology.Index Terms-Output delay, Padé approximation, second-order sliding-mode (SM) control, stable system center.

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“…Some preliminary ideas regarding the SP and SM are available (using the Gopalswamy and Hedrick [10] transformation) in a private memorandum [23].…”

Section: Limit Cycles and The Spmentioning

confidence: 99%

Second order SM approach to SISO time-delay system output tracking

Liu

Zinober

Shtessel

2008

2008 International Workshop on Variable Structure Systems

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“…Fast zeros can often be neglected without affecting the performance [1,9]. Thus, it is proposed to eliminate the fast zeros and thereby deal only with a system that has slow zeros.…”

Section: Dealing With Fast Zerosmentioning

confidence: 99%

Predictive control of fast unstable and nonminimum-phase nonlinear systems

Guemghar

Srinivasan

Müllhaupt

et al. 2002

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)

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The problem of controlling fast, unstable, and nonminimum-phase systems is considered. With standard predictive control, the time required for optimization is typically larger than the sampling interval that is needed for stabilization of the fast dynamics. On the other hand, due to the nonminimum-phase behavior, control based on input-output feedback linearisation leads to unstable internal dynamics. In this paper, a cascade structure is proposed, with control based on input-output feedback linearisation forming the inner loop and predictive control the outer loop. Assuming high-gain feedback for the inner loop, a stability analysis of the global scheme is provided based on singular perturbation theory. The approach is illustrated via the simulation of an inverted pendulum system.

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“…The output redefinition technique is proposed based on this idea. By designing a set of acceptable internal dynamics with output redefinition technique, the study by Gopalswamy and Hedrick 10 represents a method to stabilize the unstable internal dynamics and solve the output tracking problem of an affine nonlinear nonminimum system. This technique is investigated by many researchers extensively.…”

Section: Introductionmentioning

confidence: 99%

Observer-based attitude controller for lifting re-entry vehicle with non-minimum phase property

Nie

Zhang

2017

International Journal of Advanced Robotic Systems

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This article concentrates on the attitude control problem for the lifting re-entry vehicle with non-minimum phase property. A novel attitude control method is proposed for this kind of lifting re-entry vehicle without assuming the internal dynamics to be measurable. First, an internal dynamics extended state observer is developed to deal with the unmeasurable problem of the internal dynamics. And then, the control scheme which adopts output feedback method is proposed by modifying the traditional output redefinition technique with internal dynamics extended state observer. This control scheme only requires the system output to be measurable, and it can still stabilize the unstable internal dynamics and track attitude commands. Besides, because of the inherent property of extended state observer in rejecting uncertainties and disturbances, the control precision of the proposed controller is higher than the controller designed with traditional output redefinition technique. Finally, the effectiveness and robustness of the proposed attitude controller are demonstrated by the simulation results.

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Tracking nonlinear non-minimum phase systems using sliding control

Cited by 210 publications

References 7 publications

Second order SM approach to SISO time-delay system output tracking

Second order SM approach to SISO time-delay system output tracking

Predictive control of fast unstable and nonminimum-phase nonlinear systems

Observer-based attitude controller for lifting re-entry vehicle with non-minimum phase property

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