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Technical Brief

Heterogeneous Nonlinear Systems Synchronization Based on Adaptive Super Twisting

[+] Author and Article Information
Oscar Salas-Peña

Faculty of Mechanical and Electrical Engineering,
Autonomous University of Nuevo Leon,
San Nicolas de los Garza 66455, Mexico
e-mail: salvador.sp@gmail.com

Jesús De León-Morales

Faculty of Mechanical and Electrical Engineering,
Autonomous University of Nuevo Leon,
San Nicolas de los Garza 66455, Mexico
e-mail: drjleon@gmail.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received February 3, 2017; final manuscript received December 21, 2017; published online March 28, 2018. Assoc. Editor: Yunjun Xu.

J. Dyn. Sys., Meas., Control 140(6), 064503 (Mar 28, 2018) (6 pages) Paper No: DS-17-1067; doi: 10.1115/1.4039279 History: Received February 03, 2017; Revised December 21, 2017

In this work, the synchronization of a group of heterogeneous uncertain nonlinear systems is addressed. A strategy based on adaptive super twisting algorithm is proposed, in order to synchronize the outputs of the heterogeneous systems. With the aim of implementing the proposed control strategy, unmeasurable states are estimated by means of high-order sliding modes differentiators. This control scheme increases robustness against unknown dynamics and disturbances, whose bounds are not required to be known. Finally, experimental results for synchronizing a heterogeneous system platform, constituted by an inertial stabilization platform (ISP) and a helicopter of two degrees-of-freedom (DOF), are used to illustrate the performance of the proposed control scheme.

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Figures

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Fig. 1

Heterogeneous systems interconnection scheme

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Fig. 2

Experimental platform of heterogeneous systems

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Fig. 3

Angular responses: (a) subsystems view and (b) scatter view

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Fig. 4

Synchronization errors

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Fig. 5

2DOF ISP synchronization controls

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Fig. 6

2DOF helicopter synchronization controls

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