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This paper presents a new approach for integral sliding mode controller for a class of unmatched uncertain systems. A nominal control is computed using sliding mode techniques which works for unmatched uncertain system. Integral sliding mode is further added to ensure robust reaching phase. A control system for slosh-free motion of a partially filled liquid container is sought. This is representative...
Nowadays simple and executable controllers that can control many complex processes are more popular, remarkable and justifiable. Studying and designing such controllers for inverted pendulum system is a prominent way to prove the controllers performance. Inverted pendulum system is a classic system in most control laboratories. The system structure, totally, consists of a cart and a pendulum hinged...
A straight-line tracking controller has been designed for the non-linear and under-actuated mathematical module of ship's straight-line tracking control system based on Auto Disturbance Rejection Control (ADRC) technique. On the base of the former auto disturbance rejection control calculation, the auto disturbance rejection controller has been achieved by the combination of two control elements,...
As a result of removing nonlinearity and uncertainty in the transform from fin angle to lift force, fin stabilizer with lift feedback can get better effect compare with that of angle feedback. But the effectiveness of lift feedback fin stabilizer can severely be deteriorated due to nonlinear and uncertainty effects arising from the parameter perturbations and external disturbances in the roll motion...
The control of a class of linear uncertain dynamic systems having time delays in state and control is investigated. The plant and input matrices of the system contain uncertain elements. The only information available about the uncertain parameters is the bounding sets in which they lie. Under certain assumptions a nonlinear control law is developed which forces the plant output to track the output...
The uncertain nonlinear descriptor systems with multiple time delays in system state and control are studied. The systems not only contain uncertainties, but also experience uncertainties in the input channels. The condition for robust stabilizable independent of delay of this kind of systems is presented by using Lyapunov methods. Using solutions of Lyapunov and Riccati equations, a linear state...
In this paper, the Variable Structure Control (VSC) method is integrated with a nonlinear suboptimal control method based on Control Lyapunov Function (CLF). According to the system nominal part, a CLF is first constructed in general to facilitate the nonlinear optimal system design and Sontagpsilas formula is used in particular to generate a suboptimal controller. To take system uncertainties into...
Control of a class of nonlinear/uncertain systems is discussed via a variable structure systems approach. In this paper the so-called unit vector control structure is exploited to the development of numeric design algorithm. A control law will be presented which induce and maintain sliding despite the presence of both matched and unmatched uncertainty. The natural extension to an controller design...
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