Autor:

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

Współtwórca:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Tytuł:

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

Tytuł publikacji grupowej:

AMCS, volume 34 (2024)

Temat i słowa kluczowe:

output feedback and observers ; sliding mode control ; attractive ellipsoid method ; uncertain systems ; nonlinear systems

Abstract:

This paper concerns the synthesis of a nonlinear robust output controller based on a full-order observer for a class of uncertain disturbed systems. The proposed method guarantees that, in finite time, the system trajectories go inside a minimal neighborhood ultimately bounded. To this end, the attractive ellipsoid method is enhanced by applying the dynamic sliding mode control performance properties. Furthermore, in order to guarantee the stability of the trajectory around the trivial solution in the uniform-ultimately bounded sense, the feasibility of a specific matrix inequality problem is provided. ; With this feasible set of matrix inequalities, the separation principle of the controller/observer scheme considered also holds. To achieve a system performance improvement, a numerical algorithm based on the small size ultimate bound is presented. Finally, to illustrate the theoretical performance of the designed controller/observer, a numerical example dealing with the stabilization of a disturbed electromechanical system with uncertain and unmodeled dynamics is presented.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2024

Typ zasobu:

artykuł

DOI:

10.61822/amcs-2024-0003

Strony:

29-43

Źródło:

AMCS, volume 34, number 1 (2024) ; kliknij tutaj, żeby przejść

Jezyk:

eng

Licencja CC BY 4.0:

kliknij tutaj, żeby przejść

Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego