Article ID Journal Published Year Pages File Type
5005224 ISA Transactions 2010 6 Pages PDF
Abstract
For MIMO mechanical systems using position measurements only, this paper presents a dynamic output feedback sliding mode control algorithm in which an additional dynamics is introduced into the design of the sliding surface. Although the system has the mismatched uncertainty and external disturbance, once the system is in the sliding mode, the proposed method can guarantee robust stabilization and sustain the nature of performing disturbance attenuation through utilizing H∞ control analytical technique. A controller is then designed to drive the system to the sliding surface in a finite time and stay on it thereafter. Finally, a numerical example is explained for demonstrating the applicability of the proposed scheme.
Related Topics
Physical Sciences and Engineering Engineering Control and Systems Engineering
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