Abstract
This paper proposes a nonlinear multi-input control law using sliding mode concepts for continuous-time, uncertain, linear systems. The control law introduces a state-dependent layer around the sliding mode plane to remove chattering. This layer combines two types of boundary layers: a constant layer and a sector-shaped layer. The states will always enter the state-dependent boundary layer and the choice of the sliding mode will be seen to determine the ultimate system performance. A proof of stability shows ultimate boundedness. The controller is applied to a nonlinear simulation model of a cart-pendulum and exhibits a high degree of robustness. The new boundary layer in connection with a novel dynamically changing, state-dependent gain can be used to obtain a narrow boundary-layer shape in the operating region of interest. This permits rejection of disturbances without chattering of the control and improves on the performance expected of a sliding-mode control with constant boundary layer.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
