Abstract
This paper proposes a novel robust proportional integral non-singular terminal synergetic control (PI-NTSC) for a class of affine nonlinear systems. To counteract the effects of the disturbances, a hybrid nonlinear disturbance observer (HNDOB) scheme is proposed to estimate the matched and mismatched disturbances. A novel proportional integral non-singular terminal synergetic control (PI-NTSC) is proposed for a class of affine nth-order systems. The stability of the PI-NTSC approach is proven using the Lyapunov stability theory. Its effectiveness and applicability is evaluated through simulations of a four-bar linkage mechanism and a servo-hydraulic system. The proposed HNDOB-based PI-NTSC is characterized by a finite time convergence rate, simple implementation, better disturbance rejection ability to both matched and mismatched uncertainties, and chattering free dynamics compared to conventional sliding mode control.
Highlights
T HE need to design new control methods for modern technologies and complex systems capable of handling unknown dynamics, uncertainties, and external disturbances has recently led to the introduction of the synergetic control (SC) theory [1]
SIMULATION RESULTS This section presents the performances of the proposed PINTSC and the hybrid nonlinear disturbance observer (HNDOB) for a four-bar linkage mechanism and a servo- hydraulic system
It should be noted that in order to study the performance of the proposed HNDOB and proportional integral non-singular terminal synergetic control (PI-NTSC), a very small process and measurement noises are considered in this example
Summary
T HE need to design new control methods for modern technologies and complex systems capable of handling unknown dynamics, uncertainties, and external disturbances has recently led to the introduction of the synergetic control (SC) theory [1]. To guarantee the finite time convergence of the states to zero, a finite time synergetic theory was proposed in [17] This could be achieved with the novel non-singular terminal SC that was introduced in [18], [19] with applications in robotic manipulators and nth-order systems, such as servo-hydraulic systems. This paper introduces a novel robust proportional integral non-singular terminal synergetic control (PI-NTSC) for a class of affine nonlinear systems. This method has the advantages of the SMC, guarantees that the states of the system converge to the origin in finite time, and offers a control signal with no chattering.
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