On Robust, Multi-Input Sliding-Mode Based Control with a State-Dependent Boundary Layer |
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Authors: | G Herrmann S K Spurgeon C Edwards |
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Institution: | (1) Control and Instrumentation Research Group, Department of Engineering, University of Leicester, Leicester, UK |
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Abstract: | This paper proposes a nonlinear multi-input control law using sliding mode concepts for continuous-time, uncertain, linear
systems. The control law introduces a state-dependent layer around the sliding mode plane to remove chattering. This layer
combines two types of boundary layers: a constant layer and a sector-shaped layer. The states will always enter the state-dependent
boundary layer and the choice of the sliding mode will be seen to determine the ultimate system performance. A proof of stability
shows ultimate boundedness. The controller is applied to a nonlinear simulation model of a cart-pendulum and exhibits a high
degree of robustness. The new boundary layer in connection with a novel dynamically changing, state-dependent gain can be
used to obtain a narrow boundary-layer shape in the operating region of interest. This permits rejection of disturbances without
chattering of the control and improves on the performance expected of a sliding-mode control with constant boundary layer.
Communicated by M. Simaan
The first author would like to acknowledge the support from the European Commission TMR Grant, Project FMBICT983463. |
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Keywords: | Sliding-mode control boundary layers robust control Lyapunov analysis |
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