Chattering mitigated sliding mode control of uncertain nonlinear systems
| Autor: | Dirk Söffker, Mark Spiller |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science 020208 electrical & electronic engineering Mode (statistics) 02 engineering and technology Kalman filter Sliding mode control Tracking error Nonlinear system Model predictive control 020901 industrial engineering & automation Maschinenbau Control and Systems Engineering Control theory System parameters 0202 electrical engineering electronic engineering information engineering |
| Zdroj: | IFAC-PapersOnLine. 53:6244-6249 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2020.12.1734 |
| Popis: | In this paper chattering mitigated sliding mode control of uncertain nonlinear systems is considered. Concrete knowledge about the system parameters or uncertainty bounds is assumed to be unavailable. A combined sliding mode and data-driven model-free predictive control strategy is proposed. Calculation of the predictive control input is based on a linearized system description. The parameters of the linearized model are estimated online using a Kalman filter and input-output data. The sliding mode controller guarantees boundedness of the tracking error. The switching gain adapts online which avoids the uncertainty bounds of the system to be known. Overestimation of the bounds is avoided by the use of the predictive controller, leading to mitigation of the chattering effect. The effectiveness of the proposed strategy is confirmed by a simulation example. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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