Robust decentralized control design using integral sliding mode control

2012 ◽  
Author(s):  
Eshag Larbah ◽  
Ron J Patton
Keyword(s):  
Sliding Mode Control ◽  
Decentralized Control ◽  
Sliding Mode ◽  
Control Design ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Robust Decentralized Control

Combination of integral sliding mode control design with optimal feedback control for nonlinear uncertain systems

2018 ◽  
Vol 41 (5) ◽  
pp. 1331-1339 ◽  
Author(s):  
Marwa Jouini ◽  
Slim Dhahri ◽  
Anis Sellami
Keyword(s):  
Feedback Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Optimal Feedback Control ◽  
System Response ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Optimal Feedback ◽  
Mode Control

The purpose of this study is to present a new robust sliding mode control design for nonlinear systems where both matched and unmatched uncertainties are considered. The proposed controller strategy is composed of two components: the integral sliding mode control and the optimal feedback control law. Moreover, an integral sliding mode surface in integral type is developed to construct the reachability of sliding mode using the Lyapunov functions method. The main advantages of the proposed approach are ensuring the robustness throughout the whole system response against the uncertainties, decrease the chattering effect and eliminate the reaching phase. Finally, the validity of the proposed design strategy is demonstrated through the simulation of a flexible joint robot.

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