Ding, Yueheng;
Yan, Xinggang;
Mao, Zehui;
Spurgeon, Sarah;
Jiang, Bin;
(2022)
System structure based decentralized sliding mode output tracking control for nonlinear interconnected systems.
International Journal of Robust and Nonlinear Control
10.1002/rnc.6467.
(In press).
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Abstract
In this article, a decentralized tracking control scheme is proposed for a class of nonlinear interconnected systems with uncertainties using sliding mode technique. Both matched nonlinear uncertainty and mismatched known nonlinear interconnections are considered. Under the condition that the nominal isolated subsystems have relative degrees, a geometric transformation is applied to transfer the interconnected system into a new nonlinear interconnected system with a special structure to facilitate the system analysis and design. Then, a composite sliding surface is designed in terms of tracking errors, and decentralized controllers are proposed to drive the system states to the designed sliding surface in finite time and maintain a sliding motion on it thereafter. A set of conditions are developed to guarantee that the output tracking errors converge to zero asymptotically while all system state variables are bounded. The considered interconnected systems are nonlinear and it is not required that either the isolated subsystems or the isolated nominal subsystems are linearizable. The desired output signals are allowed to be time-varying. Finally, the developed results are applied to an inverted coupled-pendulum system. Simulation demonstrates that the proposed control scheme is effective.
| Type: | Article |
|---|---|
| Title: | System structure based decentralized sliding mode output tracking control for nonlinear interconnected systems |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1002/rnc.6467 |
| Publisher version: | https://doi.org/10.1002/rnc.6467 |
| Language: | English |
| Additional information: | © 2022 The Authors. International Journal of Robust and Nonlinear Control published by John Wiley & Sons Ltd. This is an open access article under the terms of the Creative Commons Attribution-NonCommercial-NoDerivs License, which permits use and distribution in any medium, provided the original work is properly cited, the use is non-commercial and no modifications or adaptations are made. |
| Keywords: | Decentralized control, Nonlinear interconnected systems, Output tracking, Sliding mode control, Robust control. |
| UCL classification: | 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 UCL > Provost and Vice Provost Offices > UCL BEAMS UCL |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10158573 |
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