Sliding mode controller design for a class of nonautonomous systems-an experimental study

The design of a robust controller for non-autonomous uncertain dynamical systems is presented. To assure global sliding throughout the entire response, we propose a sliding mode controller with a robust pole assignment. Design of a nonlinear filter that offers advantages of maintaining robustness and tracking accuracy while reducing chatter is proposed. These schemes are then applied to a magnetic suspension system with unknown mass and unmodeled coil-dynamics for experimental validation. According to the experimental results, the proposed schemes show significant improvement in comparison with the conventional sliding-mode control scheme and the boundary-layer scheme.<<ETX>>

[1]  Martin Corless,et al.  A new class of stabilizing controllers for uncertain dynamical systems , 1982, CDC 1982.

[2]  H. Sira-Ramírez.  Dynamical sliding mode control strategies in the regulation of nonlinear chemical processes , 1992 .

[3]  Jean-Jacques E. Slotine,et al.  Sliding controller design for non-linear systems , 1984 .

[4]  R. Decarlo,et al.  Variable structure control of nonlinear multivariable systems: a tutorial , 1988, Proc. IEEE.

[5]  P. Zlateva.  Variable-structure control of nonlinear systems , 1995 .

[6]  Park Min-Ho,et al.  Chattering reduction in the position control of induction motor using the sliding mode , 1989 .

[7]  M. Corless,et al.  Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems , 1981 .

[8]  P.C. Sen,et al.  Control dynamics of speed drive systems using sliding mode controllers with integral compensation , 1989, Conference Record of the IEEE Industry Applications Society Annual Meeting,.

[9]  M. Spong,et al.  Robust Control Design Techniques for a Class of Nonlinear Systems , 1986, 1986 American Control Conference.

[10]  Jean-Jacques E. Slotine,et al.  Adaptive sliding controller synthesis for non-linear systems , 1986 .

[11]  G. Ambrosino,et al.  Variable structure model reference adaptive control systems , 1984 .

[12]  J. J. Slotine,et al.  Tracking control of non-linear systems using sliding surfaces with application to robot manipulators , 1983, 1983 American Control Conference.

[13]  F. Chang,et al.  Adaptive chattering alleviation of variable structure systems control , 1990 .

[14]  John Y. Hung,et al.  Variable structure control: a survey , 1993, IEEE Trans. Ind. Electron..

[15]  G. Ambrosino,et al.  Robust model tracking control for a class of nonlinear plants , 1985 .