Abstract
This paper proposes a robust control design based on a new switched robust integral sliding mode (SRISM) for switched systems with unmatched uncertainties. The SRISM is a sliding surface consisting of multiple sliding modes of subsystems and is robust with respect to the structural decomposed unmatched uncertainties. Each sliding mode of the subsystem can suppress the unmatched uncertainties. Their parameters are given by the conditions of linear matrix inequalities (LMIs), and their reachabilities are guaranteed by the sliding mode controllers. Finally, numerical and application simulation results for an inverted pendulum swing-up control are provided to illustrate the validity of the robust control design.
Highlights
A switched system (SS) is a complicated dynamic system shaped by a number of subsystems
The main contribution of this paper is to provide a switched robust integral sliding mode scheme for the SS with unmatched uncertainties that is different from the common robust integral sliding mode (CRISM) method in [25]
The proposed sliding surface with multiple sliding modes is switched by the switching rule forming switched robust integral sliding mode (SRISM) and has the ability to reject the unmatched uncertainties
Summary
A switched system (SS) is a complicated dynamic system shaped by a number of subsystems. Galván-Guerra and Fridman proposed another switched integral sliding mode design [28] that differs from these ISM functions This new kind of SISM is formed by the same switching rules that govern the SS under consideration, and makes the system dynamic is in the sliding mode at every switching time. They used this developed SISM method to expand the continuous output integral sliding mode robustification for SS with state-dependent location transitions and dwell time [29], [30] and applied this SISM method to the robustification problem of self-oscillations [31], [32] Even though this SISM is an excellent approach, it has the disadvantage that the unmatched uncertainty or disturbance may only be minimized but not rejected.
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