Model-free sliding mode control of nonlinear systems: Algorithms and experiments

Abstract

This paper proposes two model-free sliding mode control system (MFSMCS) structures. The new structures are compared with a model-free intelligent proportional-integral (iPI) control system structure. Two simple design approaches for the MFSMCS structures are suggested. The control system structures and the design approaches are validated by a set of real-time experimental results on a nonlinear laboratory twin rotor aerodynamic system (TRAS). The MFSMCS structures are considered in the framework of a Multi Input-Multi Output TRAS control system, where the azimuth and pitch positions are controlled using separate Single Input-Single Output control system structures for each control channel (azimuth and pitch). The experimental validation is carried out by two scenarios that illustrate and allow the assessment of the MFSMCS structures performance and the comparison versus a model-free iPI control system structure as well.