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Abstrakty
In this paper a new sliding mode control algorithm for the third order ucertain, nonlinear and time-varying dynamic system subject to unknown disturbance and input constraints is proposed. The algorithm employs a time-varying switching plane. At the initial time t=t0, the plane passes through the point determined by the system initial conditions in the error state space. Afterwards, the moves with a constant velocity to the origin of the space. the plane is selected in such a way that the integral of the absolute value of the system error over the whole period of the control action is minimized and the input constraint is satisfied. By this means, the reaching phase is eliminated, insensitivity of the system to the external disturbance is guaranteed from the very beginning of the proposed control action and fast, monotonic error convergence to zero is achieved.
Czasopismo
Rocznik
Tom
Strony
201--213
Opis fizyczny
Bibliogr. 10 poz.
Twórcy
autor
- Institute of Automatic Control, Technical Univeristy of Łódź, 18/22 Stefanowskiego St., 90-924 Łódź, Poland
autor
- Institute of Automatic Control, Technical Univeristy of Łódź, 18/22 Stefanowskiego St., 90-924 Łódź, Poland
Bibliografia
- [1] A. Bartoszewicz: A comment on ’A time-varying sliding surface for fast and robust tracking control of second-order uncertain systems’. Automatica, 31(12), (1995), 1893-1895.
- [2] A. Bartoszewicz: Time-varying sliding modes for second-order systems. IEE Proceedings on Control Theory and Applications, 143(5), (1996), 455-462.
- [3] S. B. Choi, C.C. Cheong and D. W. Park: Moving switching surfaces for robust control of second-order variable structure systems. Int. J. Control, 58(1), (1993),
- [4] S. B. Choi and D.W. Park: Moving sliding surfaces for fast tracking control of second-order dynamic systems. Trans. ASME J. Dynamic Systems, Measurement, and Control, 116(1), (1994), 154-158.
- [5] S. B. Choi, D. W. Park and S. Jayasuriya: A time-varying sliding surface for fast and robust tracking control of second-order uncertain systems. Automatica, 30(7), (1994), 899-904.
- [6] R. S. Decarlo, S. Żak and G. Mathews: Variable structure control of nonlinear multivariable systems: a tutorial. Proc. IEEE, 76(3), (1988), 212-232.
- [7] J. Y. Hung, W. Gao and J. C. Hung: Variable structure control: a survey. IEEE Trans. Industrial Electronics, 40(1), (1993), 2-22.
- [8] J. J. Slotine and W. Li: Applied Nonlinear Control. Prentice-Hall International Editions, 1991.
- [9] S. Tokat, I. Eksin and M. Guzelkaya: A new design method for sliding mode controllers using a linear time-varying sliding surface. IMechE, 216 (2002), 455-466.
- [10] V. Utkin: Variable structure systems with sliding modes. IEEE Trans. Automatic Control, 22(2), (1977), 212-222.
Typ dokumentu
Bibliografia
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bwmeta1.element.baztech-article-BSW3-0009-0012