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Technical Brief

Multirate Output Feedback Based Stochastic Sliding Mode Control

[+] Author and Article Information
A. J. Mehta

Associate Professor
Department of Electrical Engineering,
Institute of Infrastructure Technology
Research and Management,
Ahmedabad 380026, Gujarat, India
e-mail: draxaymehta@gmail.com

B. Bandyopadhyay

Chair Professor
Systems and Control Engineering,
Indian Institute of Technology Bombay,
Mumbai 400076, India
e-mail: bijnan@ee.iitb.ac.in

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 20, 2015; final manuscript received June 13, 2016; published online August 11, 2016. Assoc. Editor: Dejan Milutinovic.

J. Dyn. Sys., Meas., Control 138(12), 124503 (Aug 11, 2016) (6 pages) Paper No: DS-15-1386; doi: 10.1115/1.4033947 History: Received August 20, 2015; Revised June 13, 2016

In this paper, a multirate output feedback (MROF) based discrete-time sliding mode control for the stochastic system with slowly varying bounded uncertainty is proposed. The states are estimated by the multirate Kalman filter and are used for designing the stochastic sliding mode controller which guarantee the stability under the bounded uncertainty and the uncertain noise covariance. The proposed algorithm has advantage of computational and implementation simplicity as it requires only the past output and input information. The stochastic sliding band (SSB) is also calculated which is found to be wider as compared to the state feedback case. Finally, the design procedure for stochastic sliding mode controller is demonstrated with an illustrative example.

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Figures

Grahic Jump Location
Fig. 1

Response for (a) state x1(k) and its estimation x̂1(k), (b) state x2(k) and its estimation x̂2(k), (c) control input u(k), and (d) sliding variable s(k)

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