Tracking for nonlinear plants with multiple unknown time-varying state delays using sliding mode with adaptation

2009 ◽  
pp. n/a-n/a
Author(s):  
Boris Mirkin ◽  
Per-Olof Gutman ◽  
Yuri Shtessel
Keyword(s):  
Sliding Mode ◽  
Time Varying ◽  
State Delays ◽  
Nonlinear Plants

Adaptive Sliding Mode Tracking of Nonlinear Plants With Multiple Unknown Time-Varying State Delays

2008 ◽  
Author(s):  
Boris Mirkin ◽  
Per-Olof Gutman ◽  
Yuri Shtessel
Keyword(s):  
Dynamic Systems ◽  
Sliding Mode ◽  
External Disturbance ◽  
Nonlinear Dynamic Systems ◽  
Multiple Time ◽  
Time Varying ◽  
State Delays ◽  
Nonlinear Plants ◽  
Model Reference Adaptive ◽  
Mode Tracking

In this paper, we develop a sliding mode model reference adaptive control (MRAC) scheme for a class of nonlinear dynamic systems with multiple time-varying state delays which is robust with respect to unknown plant delays, to a nonlinear perturbation, and to an external disturbance with unknown bounds. An appropriate Lyapunov-Krasovskii type functional is introduced to design the adaptation algorithms, and to prove stability.

Sliding Mode Control for Linear Systems with Time-Varying Input and State Delays

2010 ◽  
Vol 30 (3) ◽  
pp. 629-641 ◽  
Author(s):  
Yuanqing Xia ◽  
Hongjiu Yang ◽  
Mengyin Fu ◽  
Peng Shi
Keyword(s):  
Sliding Mode Control ◽  
Linear Systems ◽  
Sliding Mode ◽  
Time Varying ◽  
Mode Control ◽  
State Delays

Distributed sliding mode control for time-varying formation tracking of multi-UAV system with a dynamic leader

2021 ◽  
Vol 111 ◽  
pp. 106549
Author(s):  
Jianhua Wang ◽  
Liang Han ◽  
Xiwang Dong ◽  
Qingdong Li ◽  
Zhang Ren
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Time Varying ◽  
Mode Control ◽  
Formation Tracking ◽  
Multi Uav

scholarly journals New Time-Varying Sliding Surface for Switching Type Quasi-Sliding Mode Control

Energies ◽  
2021 ◽  
Vol 14 (13) ◽  
pp. 3811
Author(s):  
Katarzyna Adamiak ◽  
Andrzej Bartoszewicz
Keyword(s):  
Sliding Mode Control ◽  
Continuous Time ◽  
Sliding Mode ◽  
Representative Point ◽  
Time Varying ◽  
Sliding Surface ◽  
External Disturbances ◽  
Mode Control ◽  
Switching Type ◽  
Time Systems

This study considers the problem of energetical efficiency in switching type sliding mode control of discrete-time systems. The aim of this work is to reduce the quasi-sliding mode band-width and, as follows, the necessary control input, through an application of a new type of time-varying sliding hyperplane in quasi-sliding mode control of sampled time systems. Although time-varying sliding hyperplanes are well known to provide insensitivity to matched external disturbances and uncertainties of the model in the whole range of motion for continuous-time systems, their application in the discrete-time case has never been studied in detail. Therefore, this paper proposes a sliding surface, which crosses the system’s representative point at the initial step and then shifts in the state space according to the pre-generated demand profile of the sliding variable. Next, a controller for a real perturbed plant is designed so that it drives the system’s representative point to its reference position on the sliding plane in each step. Therefore, the impact of external disturbances on the system’s trajectory is minimized, which leads to a reduction of the necessary control effort. Moreover, thanks to a new reaching law applied in the reference profile generator, the sliding surface shift in each step is strictly limited and a switching type of motion occurs. Finally, under the assumption of boundedness and smoothness of continuous-time disturbance, a compensation scheme is added. It is proved that this control strategy reduces the quasi-sliding mode band-width from O(T) to O(T3) order from the very beginning of the regulation process. Moreover, it is shown that the maximum state variable errors become of O(T3) order as well. These achievements directly reduce the energy consumption in the closed-loop system, which is nowadays one of the crucial factors in control engineering.

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