Robust Internal-Loop Compensator Based Sliding Mode Control of Nonlinear Systems in the Presence of Mismatched Disturbances
This paper introduces the robust internal-loop compensator based sliding mode control (SMRIC) scheme for multiple-input multiple-output (MIMO) nonlinear systems subjected to mismatched uncertainties, which are time-varying and non-vanishing with non-constant steady-state values. The proposed approac...
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8693504/ |
| _version_ | 1819276310544908288 |
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| author | Almir Salihbegovic |
| author_facet | Almir Salihbegovic |
| author_sort | Almir Salihbegovic |
| collection | DOAJ |
| description | This paper introduces the robust internal-loop compensator based sliding mode control (SMRIC) scheme for multiple-input multiple-output (MIMO) nonlinear systems subjected to mismatched uncertainties, which are time-varying and non-vanishing with non-constant steady-state values. The proposed approach extends an application area of the robust internal-loop compensator (RIC), as well as a class of mismatched uncertainties that could be imposed on the system. The developed SMRIC technique allows substantial alleviation of the chattering phenomenon in the presence of disturbances while retaining the nominal performance of the system in the absence of disturbances. The stability analysis of the closed-loop system is performed using the Lyapunov-based approach. The proposed SMRIC method guarantees the finite-time convergence of the system trajectories to the sliding surface and provides asymptotic stability of the equilibrium. The simulation results of the numerical example and both simulation and experimental results of the application example show that the proposed SMRIC technique exhibits, in comparison with the concurrent algorithms, excellent tracking performance and robustness properties in the presence of modeling uncertainties, parameter variations, external disturbances, and mismatched uncertainties. |
| first_indexed | 2024-12-23T23:38:11Z |
| format | Article |
| id | doaj.art-d72b8ad044d74b248d94b2c14e262351 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-23T23:38:11Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-d72b8ad044d74b248d94b2c14e2623512022-12-21T17:25:49ZengIEEEIEEE Access2169-35362019-01-017504925050210.1109/ACCESS.2019.29107258693504Robust Internal-Loop Compensator Based Sliding Mode Control of Nonlinear Systems in the Presence of Mismatched DisturbancesAlmir Salihbegovic0https://orcid.org/0000-0002-0369-084XDepartment for Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Sarajevo, Bosnia and HerzegovinaThis paper introduces the robust internal-loop compensator based sliding mode control (SMRIC) scheme for multiple-input multiple-output (MIMO) nonlinear systems subjected to mismatched uncertainties, which are time-varying and non-vanishing with non-constant steady-state values. The proposed approach extends an application area of the robust internal-loop compensator (RIC), as well as a class of mismatched uncertainties that could be imposed on the system. The developed SMRIC technique allows substantial alleviation of the chattering phenomenon in the presence of disturbances while retaining the nominal performance of the system in the absence of disturbances. The stability analysis of the closed-loop system is performed using the Lyapunov-based approach. The proposed SMRIC method guarantees the finite-time convergence of the system trajectories to the sliding surface and provides asymptotic stability of the equilibrium. The simulation results of the numerical example and both simulation and experimental results of the application example show that the proposed SMRIC technique exhibits, in comparison with the concurrent algorithms, excellent tracking performance and robustness properties in the presence of modeling uncertainties, parameter variations, external disturbances, and mismatched uncertainties.https://ieeexplore.ieee.org/document/8693504/Control designcontrol system synthesisdisturbance observerLyapunov methodsmotion controlnonlinear control systems |
| spellingShingle | Almir Salihbegovic Robust Internal-Loop Compensator Based Sliding Mode Control of Nonlinear Systems in the Presence of Mismatched Disturbances IEEE Access Control design control system synthesis disturbance observer Lyapunov methods motion control nonlinear control systems |
| title | Robust Internal-Loop Compensator Based Sliding Mode Control of Nonlinear Systems in the Presence of Mismatched Disturbances |
| title_full | Robust Internal-Loop Compensator Based Sliding Mode Control of Nonlinear Systems in the Presence of Mismatched Disturbances |
| title_fullStr | Robust Internal-Loop Compensator Based Sliding Mode Control of Nonlinear Systems in the Presence of Mismatched Disturbances |
| title_full_unstemmed | Robust Internal-Loop Compensator Based Sliding Mode Control of Nonlinear Systems in the Presence of Mismatched Disturbances |
| title_short | Robust Internal-Loop Compensator Based Sliding Mode Control of Nonlinear Systems in the Presence of Mismatched Disturbances |
| title_sort | robust internal loop compensator based sliding mode control of nonlinear systems in the presence of mismatched disturbances |
| topic | Control design control system synthesis disturbance observer Lyapunov methods motion control nonlinear control systems |
| url | https://ieeexplore.ieee.org/document/8693504/ |
| work_keys_str_mv | AT almirsalihbegovic robustinternalloopcompensatorbasedslidingmodecontrolofnonlinearsystemsinthepresenceofmismatcheddisturbances |