Discrete Time Sliding Mode Controller Using a Disturbance Compensator for Nonlinear Uncertain Systems
| Autor: | Jalel Ghabi, Hedi Dhouibi |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science 020208 electrical & electronic engineering Pendulum 02 engineering and technology Sliding mode control Computer Science Applications Inverted pendulum Nonlinear system 020901 industrial engineering & automation Discrete time and continuous time Control and Systems Engineering Control theory Robustness (computer science) 0202 electrical engineering electronic engineering information engineering Parametric statistics |
| Zdroj: | International Journal of Control, Automation and Systems. 16:1156-1164 |
| ISSN: | 2005-4092 1598-6446 |
| DOI: | 10.1007/s12555-017-0185-0 |
| Popis: | In this paper, we propose a new sliding mode control for discrete time nonlinear uncertain systems. The uncertainties include both parametric uncertainties in the state model and external disturbances. To recover the lost invariance and robustness properties of discrete sliding mode control, we develop a disturbance estimation scheme to compensate the system uncertainties without affecting the control law. This control approach ensures the stability of the closed loop system as well as chattering reduction. The performance of the proposed controller is applied to control the motion of a cart-inverted pendulum used as a typical benchmark of nonlinear systems. The stabilization problem of the inverted pendulum system is to design a controller to keep the pendulum in its unstable equilibrium point in the presence of disturbances and parameters variation. The simulation result shows the effectiveness of the control design. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full text from SpringerLink