scholarly journals Robust Optimal Sliding-Mode Tracking Control for a Class of Uncertain Nonlinear MIMO Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Haiping Pang ◽  
Xiuqin Yang
Keyword(s):  
Mimo Systems ◽  
Sliding Mode ◽  
Mimo System ◽  
Tracking Error ◽  
Reference Trajectory ◽  
Tracking Problem ◽  
Input Output ◽  
Nominal System ◽  
Tracking Controller ◽  
Mode Tracking

This paper addresses the problem of tracking a reference trajectory asymptotically given by a linear time-varying exosystem for a class of uncertain nonlinear MIMO systems based on the robust optimal sliding-mode control. The nonlinear MIMO system is transformed into a linear one by the input-output linearization technique, and at the same time the input-output decoupling is realized. Thus, the tracking error equation is established in a linear form, and the original nonlinear tracking problem is transformed into an optimal linear quadratic regulator (LQR) tracking problem. A LQR tracking controller (LQRTC) is designed for the corresponding nominal system, and the integral sliding-mode strategy is used to robustify the LQRTC. As a result, the original system exhibits global robustness to the uncertainties, and the tracking dynamics is the same as that of LQRTC for the nominal system. So a robust optimal sliding-mode tracking controller (ROSMTC) is realized. The proposed controller is applied to a two-link robot system, and simulation results show its effectiveness and superiority.

scholarly journals Sliding mode tracking controller for a non-linear single link-DC motor system: An input output approach

2017 ◽  
Vol 50 (1) ◽  
pp. 11619-11624 ◽  
Author(s):  
H. Sira Ramírez ◽  
M.A. Aguilar-Orduña ◽  
E.W. Zurita-Bustamante
Keyword(s):  
Motor System ◽  
Sliding Mode ◽  
Dc Motor ◽  
Input Output ◽  
Tracking Controller ◽  
Single Link ◽  
Non Linear ◽  
Mode Tracking

A globally convergent tracking controller for the X4 flyer rotor craft for reference trajectories with positive thrust

Robotica ◽  
2004 ◽  
Vol 22 (4) ◽  
pp. 375-388 ◽  
Author(s):  
Brian J. Driessen ◽  
Alexandre L. Robin
Keyword(s):  
Phase I ◽  
Phase Ii ◽  
Tracking Error ◽  
Reference Trajectory ◽  
Two Phase ◽  
Globally Convergent ◽  
Tracking Controller ◽  
Control Objective ◽  
Yaw Angle ◽  
Angle Tracking

In this paper we present a globally convergent and ultimately exponentially convergent tracking controller for an X4 Flyer rotor craft. The desired or reference trajectory is restricted in one way: its scalar thrust must be uni signed and bounded away from zero. The proposed controller is a two phase one. Phase I converges the attitude (orientation) error and thrust error to zero globally and ultimately exponentially. Phase II is a position tracking and relative yaw angle tracking controller, which is not globally convergent by itself. By carefully postponing a switch from Phase I to Phase II, we are able to assure that Phase II will ultimately drive the position error and relative yaw angle error to zero exponentially. In problem-statement/theorem/proof format, we define the system, the control objective, the proposed controller, and a rigorous proof that the controller maintains boundedness of all closed loop signals and provides global convergence of the tracking error to zero and also ultimately exponential convergence of the tracking error to zero.

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