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Research Papers

Robust Tracking of a Class of Perturbed Nonlinear Systems via Multivariable Nested Sliding Mode Control

[+] Author and Article Information
Aras Adhami-Mirhosseini

 Control and Intelligent, Processing Center of Excellence, University of Tehran, P.O. Box 14395-515 Tehran, Irana.adhami@ece.ut.ac.ir

Mohammad J. Yazdanpanah

 Control and Intelligent, Processing Center of Excellence, University of Tehran, P.O. Box 14395-515 Tehran, Iranyazdan@ut.ac.ir

Ali Khaki-Sedigh

Department of Electrical Engineering,  K. N. Toosi University of Technology, P.O. Box 16315-1355 Tehran, Iransedigh@kntu.ac.ir

J. Dyn. Sys., Meas., Control 134(3), 031004 (Mar 27, 2012) (8 pages) doi:10.1115/1.4005504 History: Received January 05, 2011; Revised October 11, 2011; Published March 27, 2012; Online March 27, 2012

In this paper, a new methodology for robust controller design in nonlinear multivariable systems is suggested to guarantee asymptotic output tracking. The systems under consideration are perturbed by functionally bounded matched and unmatched uncertainties/perturbations and assumed to be described in the strict-feedback form. The main idea of the methodology is based on the combination of conventional sliding mode control and backstepping algorithm. The proposed controller called nested sliding mode controller that is obtained through a stepwise algorithm. It has the ability of rejecting nonvanishing perturbations by using dynamic switches, unlike conventional and other hierarchical sliding mode design methods. Performance is studied through theorems and verified by two numerical examples.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 1

Nested sliding mode controller with static switches response for the perturbed system with ɛ1  = ɛ2  = 1

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Figure 2

Nested sliding mode controller with static switches response for the perturbed system with ɛ1  = ɛ2  = 0.1

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Figure 3

Nested sliding mode controller with dynamic switches response for the perturbed system (sudden change of the parameters at t = 5): (a) System output (solid) and reference signal (dashed)

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Figure 4

MIMO system response with the maximum parameters deviations under NSM control with dynamic switches: (a) and (b) System outputs (solid) and reference signals (dashed)

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