Coefficient ratios-based robust sliding surface and integral sliding mode control designs with optimal transient responses


Ablay G.

IET CONTROL THEORY AND APPLICATIONS, vol.8, no.17, pp.1896-1904, 2014 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 8 Issue: 17
  • Publication Date: 2014
  • Doi Number: 10.1049/iet-cta.2014.0138
  • Title of Journal : IET CONTROL THEORY AND APPLICATIONS
  • Page Numbers: pp.1896-1904
  • Keywords: robust control, variable structure systems, transient response, optimal control, control system synthesis, multivariable control systems, closed loop systems, flexible manipulators, aircraft control, coefficient ratio-based robust sliding surface algorithm, integral sliding mode control design approach, optimal transient responses, multivariable dynamical systems, closed-loop systems, nonovershoot transient response, settling time, parameter perturbations, robust tracking, flexible robotic manipulator, strike aircraft system, numerical simulation, VARIABLE-STRUCTURE SYSTEMS, UNCERTAIN SYSTEMS, ORDER, ASSIGNMENT

Abstract

A coefficient ratio-based sliding surface algorithm and an integral sliding mode control approach are proposed for multivariable dynamical systems. The sliding surface design problem is reduced to the specification of the desired time constant of closed-loop systems. The proposed scheme is able to accomplish a non-overshoot transient response and a short settling time for multivariable systems. The resulting sliding surfaces are robust and optimal in the existence of parameter perturbations. An integral sliding mode control approach is also developed for robust tracking by using the coefficient ratio-based robust sliding surface designs. The developed methods are implemented on a flexible robotic manipulator and a strike aircraft system, and the numerical simulation results are provided in order to show the validity and feasibility of the methods.