Optimal sliding mode control for nonlinear systems with time-delay

This paper is concerned with the sliding mode control (SMC) for a class of nonlinear systems with time-delay. A novel optimal sliding mode is proposed by using the successive approximation approach (SAA). The stability of the nonlinear sliding mode is analyzed. The switching manifold ensures that the state trajectories of the closed-loop system converge to zero in an optimal fashion on the ideal sliding surface. Furthermore, the convergence velocity of every state trajectory on the ideal sliding surface can be adjusted through choosing the parameters of the quadratic performance index. A numerical simulation is given to show the effectiveness of the proposed design approach.     

A nonlinear programming approach for the sliding mode control design

We treat the sliding mode control problem by formulating it as a two phase problem consisting of reaching and sliding phases. We show that such a problem can be formulated as bicriteria nonlinear programming problem by associating each of these phases with an appropriate objective function and constraints. We then scalarize this problem by taking weighted sum of these objective functions. We show that by solving a sequence of such formulated nonlinear programming problems it is possible to obtain sliding mode controller feedback coefficients which yield a competitive performance throughout the control. We solve the nonlinear programming problems so constructed by using the modified subgradient method which does not require any convexity and differentiability assumptions. We illustrate validity of our approach by generating a sliding mode control input function for stabilization of an inverted pendulum.     

Based on interval type-2 fuzzy-neural network direct adaptive sliding mode control for SISO nonlinear systems

In this paper, a novel direct adaptive interval type-2 fuzzy-neural tracking control equipped with sliding mode and Lyapunov synthesis approach is proposed to handle the training data corrupted by noise or rule uncertainties for nonlinear SISO nonlinear systems involving external disturbances. By employing adaptive fuzzy-neural control theory, the update laws will be derived for approximating the uncertain nonlinear dynamical system. In the meantime, the sliding mode control method and the Lyapunov stability criterion are incorporated into the adaptive fuzzy-neural control scheme such that the derived controller is robust with respect to unmodeled dynamics, external disturbance and approximation errors. In comparison with conventional methods, the advocated approach not only guarantees closed-loop stability but also the output tracking error of the overall system will converge to zero asymptotically without prior knowledge on the upper bound of the lumped uncertainty. Furthermore, chattering effect of the control input will be substantially reduced by the proposed technique. To illustrate the performance of the proposed method, finally simulation example will be given.     

Nonsingular decoupled terminal sliding-mode control for a class of fourth-order nonlinear systems

This paper presents a nonsingular decoupled terminal sliding mode control (NDTSMC) method for a class of fourth-order nonlinear systems. First, the nonlinear fourth-order system is decoupled into two second-order subsystems which are referred to as the primary and secondary subsystems. The sliding surface of each subsystem was designed by utilizing time-varying coefficients which are computed by linear functions derived from the input–output mapping of the one-dimensional fuzzy rule base. Then, the control target of the secondary subsystem was embedded to the primary subsystem by the help of an intermediate signal. Thereafter, a nonsingular terminal sliding mode control (NTSMC) method was utilized to make both subsystems converge to their equilibrium points in finite time. The simulation results on the inverted pendulum system are given to show the effectiveness of the proposed method. It is seen that the proposed method exhibits a considerable improvement in terms of a faster dynamic response and lower IAE and ITAE values as compared with the existing decoupled control methods.     

不确定电液位置伺服系统的自适应终端滑模控制

为了解决非线性、不确定电液伺服系统的位置跟踪控制问题,提出了一种基于反步法的自适应终端滑模控制方法.该方法将自适应控制和终端滑模方法结合在一起,一方面,提出的自适应控制律可以对电液伺服系统中的不确定性参数进行有效在线估计和补偿;另一方面,通过引入误差吸引子到滑模趋近律中得到变系数趋近律,设计的终端滑模控制律不仅能够消除普通终端滑模控制律中的非奇异项,还大大降低了滑模面的抖震.最终,根据Lyapunov稳定性理论,位置跟踪误差的有限时间稳定性得以严格证明.将该方法与积分反步滑模控制和线性滑模控制方法进行了对比研究,仿真结果验证了该方法在电液伺服系统位置跟踪控制方面良好的鲁棒性和跟踪精度.     

Fast terminal sliding mode controller design for nonlinear second‐order systems with time‐varying uncertainties

This article investigates a novel fast terminal sliding mode control approach combined with global sliding surface structure for the robust tracking control of nonlinear second‐order systems with time‐varying uncertainties. The suggested control technique is formulated based on the Lyapunov stability theory and guarantees the existence of the sliding mode around the sliding surface in a finite time. Using the new form of switching surface, the reaching phase elimination and the robustness improvement of the whole system are satisfied. Simulation results demonstrate the efficiency of the proposed technique. © 2014 Wiley Periodicals, Inc. Complexity 21: 239–244, 2015     

Adaptive synchronization for two identical generalized Lorenz chaotic systems via a single controller

This paper presents a systematic design procedure to synchronize two identical generalized Lorenz chaotic systems based on a sliding mode control. In contrast to the previous works, this approach only needs a single controller to realize synchronization, which has considerable significance in reducing the cost and complexity for controller implementation. A switching surface only including partial states is adopted to ensure the stability of the error dynamics in the sliding mode. Then an adaptive sliding mode controller (ASMC) is derived to guarantee the occurrence of the sliding motion even when the parameters of the drive and response generalized Lorenz systems are unknown. Last, an example is included to illustrate the results developed in this paper.     

Second-order terminal sliding mode controller for a class of chaotic systems with unmatched uncertainties

This paper is concerned with the stabilization problem for a class of nonlinear systems. Using second-order sliding mode control approach, a robust control scheme is established to make the states of system to zero or into predictable bounds for matched and unmatched uncertainties, respectively. Meanwhile, the chattering phenomenon is eliminated. A comparative example is given to emphasize the effectiveness and robustness of the proposed method.     

Suboptimal Integral Sliding Mode Controller Design for a Class of Affine Systems

This paper proposes an nth-order suboptimal integral sliding mode controller for a class of nonlinear affine systems. First, a general form of integral sliding mode is given. An extended Theta-D method is developed for the optimal control problems characterized by a quadratic cost function with a cross term. Then the extended Theta-D method is employed to determine a suboptimal integral sliding mode. Rigorous proof shows that the controller guarantees semi-global asymptotical stability of affine systems. To verify the accuracy of the extended Theta-D method, a numerical example is provided. To verify the effectiveness of the proposed suboptimal integral sliding mode controller, a numerical example and an application example of an overhead crane system are provided.     

Chaos suppression of a class of unknown uncertain chaotic systems via single input

This paper deals with the design of a robust adaptive control scheme for chaos suppression of a class of chaotic systems. We assume that model uncertainties and external disturbances disturb the system’s dynamics. The bounds of both model uncertainties and external disturbances are assumed to be unknown in advance. Moreover, it is assumed that the nonlinear terms of the chaotic system dynamics are unknown bounded. Based on the global boundedness feature of the chaotic systems’ trajectories, a simple one input adaptive sliding mode control approach is proposed to suppress the chaos of the uncertain chaotic system. Furthermore, using a dynamical sliding manifold the discontinuous sign function in the control input is diverted to the first derivative of the control input to eliminate the chattering. Finally, the robustness of the proposed approach is mathematically proved and numerically illustrated.     

Nonlinear chaos control in a permanent magnet reluctance machine

The dynamics of a permanent magnet synchronous machine (PMSM) is analyzed. The study shows that under certain conditions the PMSM is experiencing chaotic behavior. To control these unwanted chaotic oscillations, a nonlinear controller based on the backstepping nonlinear control theory is designed. The objective of the designed control is to stabilize the output chaotic trajectory by forcing it to the nearest constant solution in the basin of attraction. The result is compared with a nonlinear sliding mode controller. The designed controller that based on backstepping nonlinear control was able to eliminate the chaotic oscillations. Also the study shows that the designed controller is mush better than the sliding mode control.     

一类死区非线性输入系统的自适应模糊控制

针对一类具有死区非线性输入的非线性系统,基于滑模控制的基本原理,利用II型模糊逻辑系统对未知函数进行在线逼近,提出了一种具有监督器的自适应模糊滑模控制方法。该方法通过监督控制器保证闭环系统所有信号有界,并通过引入最优逼近误差的自适应补偿项来消除建模误差的影响。通过理论分析,证明了跟踪误差收敛到零。     

Sliding Mode Techniques for Robust Trajectory Tracking as well as State and Parameter Estimation

Practical applications are often affected by uncertainties—more precisely bounded and stochastic disturbances. These have to be considered in robust control procedures to prevent a system from being unstable. Common sliding mode control strategies are often not able to cope with the mentioned impacts simultaneously, because they assume that the considered system is only affected by matched uncertainty. Another problem is the offline computation of the switching amplitude. Under these assumptions, important nonlinear system properties cannot be taken into account within the mathematical model of the system. Therefore, this paper presents sliding mode techniques, that on the one hand are able to consider bounded as well as stochastic uncertainties simultaneously, and on the other hand are not limited to the matched case. Firstly, a sliding mode control procedure taking into account both classes of uncertainty is shown. Additionally, a sliding mode observer for the simultaneous estimation of non-measurable system states and uncertain but bounded parameters is described despite stochastic disturbances. This is possible by using intervals for states and parameters in the resulting stochastic differential equations. Therefore, the Itô differential operator is involved and the system’s stability can be verified despite uncertainties and disturbances for both control and observer procedures. This operator is used for the online computation of the variable structure part gain (matrix of switching amplitudes) which is advantageous in contrast to common sliding mode procedures.     

Sliding mode control experiments of uncertain dynamical systems with time delay

This article presents the simulation and experimental studies for the nonlinear time-delayed dynamical systems with uncertainties. A rotary flexible joint made by Quanser is chosen as the model system to investigate the method for sliding mode control design. We considered the geometric nonlinearity of the flexible joint consisting of two linear springs. The system is assumed to have constant delay time and uncertain parameters with known upper and lower bounds. We also design an optimal sliding surface for the sliding mode control. Simulations and experiments are carried out to demonstrate the utility of the control method. Finally, the results from the simulations and experiments are in excellent agreement.     

Sliding mode ℋ∞ control design for uncertain nonlinear stochastic state-delayed Markovian jump systems with actuator failures

This paper presents a new approach for sliding mode control (SMC) design of a class of uncertain nonlinear stochastic Markovian jump systems (MJSs) with time-varying delay. The attention is focused on removing a structural assumption, under which several studies concerning SMC to accommodate Itô stochastic systems have been reported. Sufficient conditions in terms of LMIs are established to guarantee the existence of the sliding surface, then the reachability is analyzed. Compared with the existing results, the mode-independent sliding surface can be derived to weaken jumping effect. The theoretical results are illustrated by a numerical example.     

Fractional‐order switching type control law design for adaptive sliding mode technique of 3D fractional‐order nonlinear systems

In this article, an adaptive sliding mode technique based on a fractional‐order (FO) switching type control law is designed to guarantee robust stability for a class of uncertain three‐dimensional FO nonlinear systems with external disturbance. A novel FO switching type control law is proposed to ensure the existence of the sliding motion in finite time. Appropriate adaptive laws are shown to tackle the uncertainty and external disturbance. The calculation formula of the reaching time is analyzed and computed. The reachability analysis is visualized to show how to obtain a shorter reaching time. A stability criteria of the FO sliding mode dynamics is derived based on indirect approach to Lyapunov stability. Effectiveness of the proposed control scheme is illustrated through numerical simulations. © 2015 Wiley Periodicals, Inc. Complexity 21: 363–373, 2016     

Terminal sliding mode control without singular for a class of uncertain system

An improved nonsingular terminal sliding mode method is proposed for a class of nonlinear systems with unmodeled dynamics. The proposed method can effectively avoid the singularity problem. The stability of the proposed procedure which could guarantee the robustness against uncertain unmodeled dynamic and external disturbances is proven by using the Lyapunov theory in finite time. An example is given to show the proposed improved terminal sliding mode control law without singular effectively. © 2016 Wiley Periodicals, Inc. Complexity 21: 566–572, 2016     

A variational approach to second-order approximability of sliding mode control systems

We consider robustness properties of second-order methods for the sliding mode control of nonlinear ordinary differential equations. A new approach is presented based on the theory of well-posed optimization problems. It is shown that the convergence of the real states of the control system to the ideal one is intimately related to Tykhonov well-posedness of suitably defined dynamic optimization problems.     

Robust controlling hyperchaos of the Rössler system subject to input nonlinearities by using sliding mode control

A sliding mode control is designed to stabilize the well-known hyperchaos of Rössler system to equilibrium points subject to sector nonlinear input. The proposed control law is robust against both the input nonlinearity and external disturbance. The error bound can be arbitrarily set by assigning the corresponding dynamics to the sliding surfaces when the desired state is not an equilibrium point. Simulation results show that the system state can be regulated to an equilibrium point in the state space. It is also seen that the system still possesses advantage of fast response and good transient performance even though the control input is nonlinear.     

Fault identification in nonlinear hybrid systems

The problem of fault identification in hybrid systems is investigated. It is assumed that the hybrid systems under consideration consist of a finite automaton, the set of nonlinear differential equations, and so-called mode activator that coordinates the action of these two parts. To solve the fault identification problem, sliding mode observers are used. The suggested approach for constructing sliding mode observers is based on the reduced order model of the original system. This allows to reduce complexity of sliding mode observers and relax the limitations imposed on the original system. Examples illustrate details of the solution.