Abstract
In order to improve the control performance of the global sliding mode control method, a fast global sliding mode control method is proposed to accelerate the response of the system by changing the exponential decay function in the sliding surface as an exponential bilateral decay function which can make the dynamic sliding mode surface evolve into the linear sliding mode surface in the finite time. The exponential reaching law is used to design the control law, and Lyapunov stability theory is used to prove the stability of the system. The control method proposed in this article can be applied to control the uncertain nonlinear system. Simulation results show that the method has faster response rate than the conventional global sliding mode control method. The method can be used to control the quad-rotor unmanned helicopter, and its good practicability can be verified.
Highlights
Control problem of nonlinear system is a hot issue which has been received more attention.[1,2] Some conventional control methods are hard to control the nonlinear system with uncertainties.[3,4,5] Uncertainties in the control system can be caused by the structured uncertainties and external disturbances.[6]
global sliding mode control (GSMC) and fast global sliding mode control (FGSMC) are separately used to control the system in equation (22), and their position and speed tracking results are shown in Figures 3 and 4
According to the tracking results above, it can be seen clearly that the convergence time of the improved FGSMC method proposed in this article can be reduced
Summary
Control problem of nonlinear system is a hot issue which has been received more attention.[1,2] Some conventional control methods are hard to control the nonlinear system with uncertainties.[3,4,5] Uncertainties in the control system can be caused by the structured uncertainties and external disturbances.[6]. Keywords Global sliding mode control, Lyapunov stability theory, uncertain nonlinear system, quad-rotor unmanned helicopter, exponential reaching law When the time t is infinite, that is, when the nonlinear function decays to zero, the dynamic sliding mode surface can evolve into the linear sliding mode surface.
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