An adaptive chattering-free variable structure control method for uncertain time-variant chaotic systems

Variable structure control with sliding mode can provide good control performance and excellent robustness. Unfortunately, the chattering phenomenon investigated due to discontinuous switching gain restricting their applications. In this paper, a chattering free improved variable structure control (IVSC) for a class of mismatched uncertain interconnected systems with an unknown time-varying delay is proposed. A sliding function is first established to eliminate the reaching phase in traditional variable structure control (TVSC). Next, a new reduced-order sliding mode estimator (ROSME) without time-varying delay is constructed to estimate all unmeasurable state variables of plants. Then, based on the Moore-Penrose inverse approach, a decentralized single-phase robustness sliding mode controller (DSPRSMC) is synthesized, which is independent of time delays. A DSPRSMC solves a complex interconnection problem with an unknown time-varying delay term and drives the system’s trajectories onto a switching surface from the initial time instance. Particularly, by applying the well-known Barbalat’s lemma, the chattering phenomenon in control input is alleviated. Moreover, a sufficient condition is established by using an appropriate Lyapunov theory and linear matrix inequality (LMI) method such that a sliding mode dynamics is asymptotically stable from the beginning time. Finally, a developed method is validated by numerical example with computer simulations.

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Finite-time projective synchronization of fractional-order chaotic systems via soft variable structure control

Journal of Mechanical Science and Technology ◽

10.1007/s12206-019-1236-7 ◽

2020 ◽

Vol 34 (1) ◽

pp. 369-376 ◽

Cited By ~ 1

Author(s):

Keyong Shao ◽

Haoxuan Guo ◽

Feng Han

Keyword(s):

Fractional Order ◽

Finite Time ◽

Chaotic Systems ◽

Variable Structure Control ◽

Variable Structure ◽

Projective Synchronization ◽

Structure Control

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Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2802322 ◽

1996 ◽

Vol 118 (2) ◽

pp. 327-332 ◽

Cited By ~ 5

Author(s):

Robert R. Y. Zhen ◽

Andrew A. Goldenberg

Keyword(s):

Control Method ◽

Hybrid Control ◽

Sliding Mode ◽

Robot Manipulators ◽

Hierarchical Control ◽

Variable Structure Control ◽

Variable Structure ◽

Control Algorithms ◽

Constrained Motion ◽

Structure Control

This paper addresses the problem of robust hybrid position and force control of robot manipulators. Variable structure control with sliding mode is used to implement the hybrid control strategy. Two variable structure control algorithms are developed in task space. One of the algorithms is based on hierarchical control method, and the other is developed for control of robot manipulators used to carried out both unconstrained and constrained tasks.

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