Variable structure control of nonlinear uncertain sandwich systems with nonsmooth nonlinearities

In this paper an approach for the stabilization of sandwich nonlinear systems containing a general nonsmooth nonlinearity is presented. The proposed solution is based on variable structure control theory, and ensures the robust ultimate boundedness of the system trajectories in a neighborhood of the origin. Theoretical results have been validated by simulation on a mechanical system representing a robot-like system with one link, preceded by an hysteretic block and a first order actuator dynamics representing a DC motor.

[1]  F. Lewis,et al.  Adaptive fuzzy logic compensation of actuator deadzones , 1997 .

[2]  Yonghong Tan,et al.  Neural adaptive control of dynamic sandwich systems with hysteresis , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.

[3]  T.-L. Chern,et al.  DSP based integral variable structure control for DC motor servo drivers , 1995 .

[4]  Paolo Nistri,et al.  Mathematical Models for Hysteresis , 1993, SIAM Rev..

[5]  B. W. Surgenor,et al.  Experimental evaluation of a backlash inverter as applied to a servomotor with gear train , 1995, Proceedings of International Conference on Control Applications.

[6]  Gang Tao,et al.  Analysis and control of sandwich systems , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[7]  Maria Letizia Corradini,et al.  A VSC approach for the robust stabilization of nonlinear plants with uncertain nonsmooth actuator nonlinearities - a unified framework , 2004, IEEE Transactions on Automatic Control.

[8]  M. Brokate,et al.  Hysteresis and Phase Transitions , 1996 .

[9]  M.L. Corradini,et al.  Robust control of nonlinear uncertain systems with sandwiched backlash. , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[10]  Gang Tao,et al.  Design and analysis of a hybrid control scheme for sandwich nonsmooth nonlinear systems , 2002, IEEE Trans. Autom. Control..

[11]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[12]  Gang Tao,et al.  Adaptive Control of Systems with Actuator and Sensor Nonlinearities , 1996 .

[13]  Gang Tao,et al.  Adaptive control of plants with unknown hystereses , 1995 .

[14]  Xiaoli Ma,et al.  Optimal and nonlinear decoupling control of systems with sandwiched backlash , 2001, Autom..