Ding, Y;
Yan, X;
Mao, Z;
Spurgeon, SK;
(2021)
Decentralised Sliding Mode Tracking Control for a Class of Nonlinear Interconnected Systems.
In:
Proceedings of the 2021 American Control Conference (ACC).
(pp. pp. 2157-2162).
IEEE: New Orleans, LA, USA.
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Abstract
This paper proposes a decentralised tracking control scheme for a class of nonlinear interconnected systems using sliding mode techniques. The desired output signals are time-varying. Both matched uncertainty and mismatched unknown interconnections are considered. Using geometric transformation, the considered system is transferred to a system with a unique structure to facilitate both the design of the sliding surface and the decentralised controllers. The sliding surface is designed based on the tracking error. A set of conditions are proposed to guarantee that when sliding motion occurs, the tracking errors converge to zero asymptotically while the system states are bounded. Decentralised controllers are then designed so that the interconnected systems' states can be driven to the designed sliding surface. Finally, simulation of a coupled inverted pendulum system demonstrates the results.
| Type: | Proceedings paper |
|---|---|
| Title: | Decentralised Sliding Mode Tracking Control for a Class of Nonlinear Interconnected Systems |
| Event: | 2021 American Control Conference (ACC) |
| Location: | New Orleans, LA, USA |
| Dates: | 25 May 2021 - 28 May 2021 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.23919/acc50511.2021.9483425 |
| Publisher version: | https://doi.org/10.23919/acc50511.2021.9483425 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Uncertainty, Tracking, Scholarships, Interconnected systems, Closed loop systems, Sliding mode control |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10132667 |
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