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Technical Briefs

On Transient Improvement of Variable Structure Controlled Systems Using Multimodel Switching

[+] Author and Article Information
Mehmet Akar

Department of Electrical and Electronic Engineering, Bogazici University, Bebek, İstanbul 34342, Turkeymehmet.akar@boun.edu.tr

This assumption can be relaxed by letting d0 to be a function of the state x.

N denotes the model in use at time t, Mu is the set of models that have been tried up to time t, and ts is the time instant at which the last switching occurred. Alternative initialization of N is possible if there is prior information on a better model/controller pair to start with.

Note also from Fig. 4 that the model states as constructed in this paper follow the states of the plant.

J. Dyn. Sys., Meas., Control 132(3), 034501 (Apr 16, 2010) (5 pages) doi:10.1115/1.4001327 History: Received November 28, 2007; Revised February 11, 2010; Published April 16, 2010; Online April 16, 2010

This paper presents a multiple model/controller scheme for robust tracking of a class of nonlinear systems in the presence of large plant uncertainties and disturbance. Each model is associated with a sliding mode controller, and a switching logic is designed to pick the model that best approximates the plant at each instant. Theoretically, it is shown that the proposed control scheme achieves perfect tracking despite the existence of disturbance, whereas simulation results verify the improvement in the transient performance.

FIGURES IN THIS ARTICLE
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Copyright © 2010 by American Society of Mechanical Engineers
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References

Figures

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Figure 2

Model states when using a single model and the approach in Ref. 1

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Figure 1

Plant and reference states when using a single model and the approach in Ref. 1

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Figure 3

MMC architecture

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Figure 4

State variables when using (a) a single model/controller and (b) the MMC approach

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Figure 5

Input variables when using (a) a single model/controller and (b) the MMC approach

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