Sliding Mode Control in Backstepping Framework for a Class of Nonlinear Systems
| Autor: | Joseph D. Iorio, Ni Li, He Shen |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Lyapunov stability
0209 industrial biotechnology backstepping control Computer science 020208 electrical & electronic engineering sliding mode control Ocean Engineering 02 engineering and technology Sliding mode control Nonlinear system 020901 industrial engineering & automation Control theory autonomous underwater vehicle Stability theory Backstepping 0202 electrical engineering electronic engineering information engineering Robust control nonlinear systems robust control Water Science and Technology Civil and Structural Engineering Parametric statistics |
| Zdroj: | Journal of Marine Science and Engineering Volume 7 Issue 12 |
| ISSN: | 2077-1312 |
| DOI: | 10.3390/jmse7120452 |
| Popis: | Both backstepping control (BC) and sliding mode control (SMC) have been studied extensively over the past few decades, and many variations of controller designs based on them can be found in the literature. In this paper, sliding mode control in a backstepping framework (SBC) for a class of nonlinear systems is proposed and its connections to SMC studied. SMC is shown to be a special case of SBC. Without losing generality, the regulation control problem is studied, while tracking control is achieved by replacing the states with the difference between the states and their desired values. The SBCs are designed for nonlinear single-input-single-output (SISO) and multiple-input-multiple-output (MIMO) systems with the presence of bounded uncertainties from unmodeled dynamics, parametric variations, disturbances, and measurement noise, and the closed loop systems are proven to be asymptotically stable using the Lyapunov stability theory. The comparison of SBC to SMC from the design process, chattering effects, and chatter reduction are also discussed. SBC inherits the merits of backstepping control in choosing gains independently, while leveraging useful nonlinear dynamics for controller design simplification. Hence, it provides more flexibility in controller design in the sense of controlling coverage speed and making use of useful nonlinearities in the dynamics. To demonstrate the effectiveness of SBC, an application on cruise tracking control of an autonomous underwater vehicle was studied. |
| Databáze: | OpenAIRE |
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