Observer-based Composite Adaptive Dynamic Terminal Sliding-mode Controller for Nonlinear Uncertain SISO Systems

In the present paper, the observer-based composite adaptive terminal sliding-mode control is investigated for the nonlinear uncertain system. First, an adaptive observer is designed to estimate the unavailable high-order derivative of the output. Then, a new dynamic terminal sliding surface is proposed with a state filter, which aims to develop the dynamic terminal sliding mode controller. By the composite adaptive control methods, a new adaptive law is designed, and the stability of the overall system is proofed based on the Lyapunov method. Finally, some numerical simulations are conducted to validate the effectiveness of the proposed algorithm.

[1]  Reza Malekian,et al.  Software Defined Wireless Sensor Networks (SDWSN): A Review on Efficient Resources, Applications and Technologies , 2018 .

[2]  Yu Zhou,et al.  Composite adaptive fuzzy H∞ tracking control of uncertain nonlinear systems , 2013, Neurocomputing.

[3]  Abdesselem Boulkroune,et al.  How to design a fuzzy adaptive controller based on observers for uncertain affine nonlinear systems , 2008, Fuzzy Sets Syst..

[4]  Petros A. Ioannou,et al.  Robust Adaptive Control , 2012 .

[5]  Hamid Reza Karimi,et al.  Fuzzy-Affine-Model-Based Memory Filter Design of Nonlinear Systems With Time-Varying Delay , 2018, IEEE Transactions on Fuzzy Systems.

[6]  Frank L. Lewis,et al.  A dynamic recurrent neural-network-based adaptive observer for a class of nonlinear systems , 1997, Autom..

[7]  Yih-Guang Leu,et al.  Observer-based adaptive fuzzy-neural control for unknown nonlinear dynamical systems , 1999, IEEE Trans. Syst. Man Cybern. Part B.

[8]  Fairouz Tchier,et al.  A novel robust adaptive second-order sliding mode tracking control technique for uncertain dynamical systems with matched and unmatched disturbances , 2017 .

[9]  Fuchun Sun,et al.  Neural-network-based integral sliding-mode tracking control of second-order multi-agent systems with unmatched disturbances and completely unknown dynamics , 2017, International Journal of Control, Automation and Systems.

[10]  Mou Chen,et al.  Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems. , 2013, ISA transactions.

[11]  Chung-Chun Kung,et al.  Observer-based indirect adaptive fuzzy sliding mode control with state variable filters for unknown nonlinear dynamical systems , 2005, Fuzzy Sets Syst..

[12]  Eugene Lavretsky,et al.  Combined/Composite Model Reference Adaptive Control , 2009, IEEE Transactions on Automatic Control.

[13]  Chang-Chieh Hang,et al.  On state variables filters for adaptive system design , 1976 .

[14]  Petar V. Kokotovic,et al.  Instability analysis and improvement of robustness of adaptive control , 1984, Autom..

[15]  Xin Zhang,et al.  Modeling of nonlinear system based on deep learning framework , 2016 .

[16]  Igor Škrjanc,et al.  Adaptive law with a new leakage term , 2010 .

[17]  Jianbin Qiu,et al.  Sliding mode control for semi-Markovian jump systems via output feedback , 2017, Autom..

[18]  Ligang Wu,et al.  Observer-based adaptive sliding mode control for nonlinear Markovian jump systems , 2016, Autom..

[19]  M. Zak.  Terminal attractors for addressable memory in neural networks , 1988 .

[20]  Yongfu Wang,et al.  State observer-based adaptive fuzzy output-feedback control for a class of uncertain nonlinear systems , 2010, Inf. Sci..

[21]  Seungwoo Kim,et al.  Takagi-Sugeno fuzzy model based indirect adaptive fuzzy observer and controller design , 2010, Inf. Sci..

[22]  Jun Nakanishi,et al.  Composite adaptive control with locally weighted statistical learning , 2005, Neural Networks.

[23]  Fuchun Sun,et al.  A novel dynamic terminal sliding mode control of uncertain nonlinear systems , 2007 .

[24]  Hamid Reza Karimi,et al.  Improved Stability and Stabilization Results for Stochastic Synchronization of Continuous-Time Semi-Markovian Jump Neural Networks With Time-Varying Delay , 2017, IEEE Transactions on Neural Networks and Learning Systems.

[25]  T. Tsuji,et al.  Terminal sliding mode control of second‐order nonlinear uncertain systems , 1999 .

[26]  Leila Notash,et al.  Adaptive sliding mode control with uncertainty estimator for robot manipulators , 2010 .

[27]  Jing-Jing Xiong,et al.  Global fast dynamic terminal sliding mode control for a quadrotor UAV. , 2017, ISA transactions.

[28]  Kalyana Chakravarthy Veluvolu,et al.  Sliding mode high-gain observers for a class of uncertain nonlinear systems , 2011, Appl. Math. Lett..

[29]  Chia-Hung Chen,et al.  An LTR-observer-based dynamic sliding mode control for chattering reduction , 2007, Autom..

[30]  Zhihong Man,et al.  Non-singular terminal sliding mode control of rigid manipulators , 2002, Autom..