Dynamic sliding mode control based on a full-order observer: underactuated electro-mechanical system regulation

DOI10.61822/AMCS-2024-0003MaRDI QIDQ6567102zbMATH OpenFDO

Authors Patricio Ordaz, Hugo Romero-Trejo, Carlos Cuvas, Omar Sandre

Publication date 4 July 2024

Published in International Journal of Applied Mathematics and Computer Science (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported

Full work available at URL https://doi.org/10.61822/AMCS-2024-0003

zbMATH Keywords

attractive ellipsoid methodnonlinear systemsoutput feedback and observerssliding mode controluncertain systems

Mathematics Subject Classification ID

Variable structure systems (93B12) Feedback control (93B52) Observers (93B53) Stabilization of systems by feedback (93D15)

Review text

Control systems, affine in the control variable, are considered with external dynamics uncertainties. State estimates are given by a full order observer. Given a suitable sliding variable, conditions are found for the dynamic sliding mode control to obtain output disturbance bounds, and to guarantee ultimate uniform bounded stability of the closed loop system. A numerical example is presented in detail.

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Cited in

(3)

• A robust asymptotic tracking controller for an uncertain 2DOF underactuated mechanical system motivated by a satellite attitude control problem
• Multiple-warehouse sliding mode control with a predefined demand trajectory profile
• Decentralized sliding mode control using an event-triggered mechanism for discrete interconnected Hammerstein systems

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