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Discrete-time sliding mode control of linear systems with input saturation

Veselić Boban, Milosavljević Čedomir, Peruničić-Draženović Branislava, Huseinbegović Senad, Petronijević Milutin

International Journal of Applied Mathematics and Computer Science

2020

Vol. 30, no. 3

517--528

The paper proposes a discrete-time sliding mode controller for single input linear dynamical systems, under requirements of the fast response without overshoot and strong robustness to matched disturbances. The system input saturation is imposed during the design due to inevitable limitations of most actuators. The system disturbances are compensated by employing nonlinear estimation by integrating the signum of the sliding variable. Hence, the proposed control structure may be regarded as a super-twisting-like algorithm. The designed system stability is analyzed as well as the sliding manifold convergence conditions are derived using a discrete-time model of the system in the δ-domain. The results obtained theoretically have been verified by computer simulations.

Simultaneous disturbance compensation and Hi/H∞ optimization in fault detection of UAVs

Liu H., Zhong M., Yang R.

International Journal of Applied Mathematics and Computer Science

2018

Vol. 28, no. 2

349--362

This paper deals with the problem of robust fault detection (FD) for an unmanned aerial vehicle (UAV) flight control system (FCS). A nonlinear model to describe the UAV longitudinal motions is introduced, in which multiple sources of disturbances include wind effects, modeling errors and sensor noises are classified into groups. Then the FD problem is formulated as fault detection filter (FDF) design for a kind of nonlinear discrete time varying systems subject to multiple disturbances. In order to achieve robust FD performance against multiple disturbances, simultaneous disturbance compensation and Hi/H∞ optimization are carried out in designing the FDF. The optimality of the proposed FDF is shown in detail. Finally, both simulations and real flight data are applied to validate the proposed method. An improvement of FD performance is achieved compared with the conventional Hi/H∞-FDF.