Integral sliding mode based optimal composite nonlinear feedback control for a class of systems

Abstract

This paper presents an optimization method of designing the integral sliding mode (ISM) based composite nonlinear feedback (CNF) controller for a class of low order linear systems with input saturation. The optimal CNF control is first designed as a nominal control to yield high tracking speed and low overshoot. The selection of all the tuning parameters for the CNF control law is turned into a minimization problem and solved automatically by particle swarm optimization (PSO) algorithm. Subsequently, the discontinuous control law is introduced to reject matched disturbances. Then, the optimal ISM-CNF control law is achieved as the sum of the optimal CNF control law and the discontinuous control law. The effectiveness of the optimal ISM-CNF controller is verified by comparing with a step by step designed one. High tracking performance is achieved by applying the optimal ISM-CNF controller to the tracking control of the micromirror.