Dynamic Sliding Mode Control Based on a Full–Order Observer: Underactuated Electro–Mechanical System Regulation
This paper concerns the synthesis of a nonlinear robust output controller based on a full-order observer for a class of uncertain disturbed systems. The proposed method guarantees that, in finite time, the system trajectories go inside a minimal neighborhood ultimately bounded. To this end, the attr...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2024-03-01
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| Series: | International Journal of Applied Mathematics and Computer Science |
| Subjects: | |
| Online Access: | https://doi.org/10.61822/amcs-2024-0003 |
| _version_ | 1797229529262981120 |
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| author | Ordaz Patricio Romero-Trejo Hugo Cuvas Carlos Sandre Omar |
| author_facet | Ordaz Patricio Romero-Trejo Hugo Cuvas Carlos Sandre Omar |
| author_sort | Ordaz Patricio |
| collection | DOAJ |
| description | This paper concerns the synthesis of a nonlinear robust output controller based on a full-order observer for a class of uncertain disturbed systems. The proposed method guarantees that, in finite time, the system trajectories go inside a minimal neighborhood ultimately bounded. To this end, the attractive ellipsoid method is enhanced by applying the dynamic sliding mode control performance properties. Furthermore, in order to guarantee the stability of the trajectory around the trivial solution in the uniform-ultimately bounded sense, the feasibility of a specific matrix inequality problem is provided. With this feasible set of matrix inequalities, the separation principle of the controller/observer scheme considered also holds. To achieve a system performance improvement, a numerical algorithm based on the small size ultimate bound is presented. Finally, to illustrate the theoretical performance of the designed controller/observer, a numerical example dealing with the stabilization of a disturbed electromechanical system with uncertain and unmodeled dynamics is presented. |
| first_indexed | 2024-04-24T15:14:02Z |
| format | Article |
| id | doaj.art-938c58de72f64e2ea03669937d8186f5 |
| institution | Directory Open Access Journal |
| issn | 2083-8492 |
| language | English |
| last_indexed | 2024-04-24T15:14:02Z |
| publishDate | 2024-03-01 |
| publisher | Sciendo |
| record_format | Article |
| series | International Journal of Applied Mathematics and Computer Science |
| spelling | doaj.art-938c58de72f64e2ea03669937d8186f52024-04-02T09:29:57ZengSciendoInternational Journal of Applied Mathematics and Computer Science2083-84922024-03-01341294310.61822/amcs-2024-0003Dynamic Sliding Mode Control Based on a Full–Order Observer: Underactuated Electro–Mechanical System RegulationOrdaz Patricio0Romero-Trejo Hugo1Cuvas Carlos2Sandre Omar3Institute of Basic Sciences and Engineering, Autonomous University of Hidalgo State, Pachuca de Soto, Hidalgo, 42184, MexicoInstitute of Basic Sciences and Engineering, Autonomous University of Hidalgo State, Pachuca de Soto, Hidalgo, 42184, MexicoInstitute of Basic Sciences and Engineering, Autonomous University of Hidalgo State, Pachuca de Soto, Hidalgo, 42184, MexicoInstitute of Basic Sciences and Engineering, Autonomous University of Hidalgo State, Pachuca de Soto, Hidalgo, 42184, MexicoThis paper concerns the synthesis of a nonlinear robust output controller based on a full-order observer for a class of uncertain disturbed systems. The proposed method guarantees that, in finite time, the system trajectories go inside a minimal neighborhood ultimately bounded. To this end, the attractive ellipsoid method is enhanced by applying the dynamic sliding mode control performance properties. Furthermore, in order to guarantee the stability of the trajectory around the trivial solution in the uniform-ultimately bounded sense, the feasibility of a specific matrix inequality problem is provided. With this feasible set of matrix inequalities, the separation principle of the controller/observer scheme considered also holds. To achieve a system performance improvement, a numerical algorithm based on the small size ultimate bound is presented. Finally, to illustrate the theoretical performance of the designed controller/observer, a numerical example dealing with the stabilization of a disturbed electromechanical system with uncertain and unmodeled dynamics is presented.https://doi.org/10.61822/amcs-2024-0003output feedback and observerssliding mode controlattractive ellipsoid methoduncertain systemsnonlinear systems |
| spellingShingle | Ordaz Patricio Romero-Trejo Hugo Cuvas Carlos Sandre Omar Dynamic Sliding Mode Control Based on a Full–Order Observer: Underactuated Electro–Mechanical System Regulation International Journal of Applied Mathematics and Computer Science output feedback and observers sliding mode control attractive ellipsoid method uncertain systems nonlinear systems |
| title | Dynamic Sliding Mode Control Based on a Full–Order Observer: Underactuated Electro–Mechanical System Regulation |
| title_full | Dynamic Sliding Mode Control Based on a Full–Order Observer: Underactuated Electro–Mechanical System Regulation |
| title_fullStr | Dynamic Sliding Mode Control Based on a Full–Order Observer: Underactuated Electro–Mechanical System Regulation |
| title_full_unstemmed | Dynamic Sliding Mode Control Based on a Full–Order Observer: Underactuated Electro–Mechanical System Regulation |
| title_short | Dynamic Sliding Mode Control Based on a Full–Order Observer: Underactuated Electro–Mechanical System Regulation |
| title_sort | dynamic sliding mode control based on a full order observer underactuated electro mechanical system regulation |
| topic | output feedback and observers sliding mode control attractive ellipsoid method uncertain systems nonlinear systems |
| url | https://doi.org/10.61822/amcs-2024-0003 |
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