Title :
Nonlinear output tracking via nonlinear dynamic sliding manifolds
Author :
Shtessel, Yuri B.
Author_Institution :
Dept. of Electr. & Comput. Eng., Alabama Univ., Huntsville, AL, USA
Abstract :
A multi-input-multi-output (MIMO) nonlinear output tracking problem with unmatched nonlinearities and disturbances is considered. The solution of this problem is addressed by methods of variable structure control. The nonlinear transformation of the coordinates of the initial nonlinear system, based on “remaining dynamics” is found. This transformation changes the system to a form convenient for the sliding mode synthesis. The sliding surface as a nonlinear dynamic operator has been designed to provide the desired linear performance of the output tracking error in the sliding mode. The system with such a sliding mode controller has obtained the combined features of the system with the conventional compensator (accommodation to the unmatched disturbances) and the conventional sliding mode controller (insensitivity to the matched disturbances)
Keywords :
MIMO systems; control system synthesis; nonlinear control systems; tracking; variable structure systems; linear performance; multi-input-multi-output nonlinear output tracking; nonlinear dynamic operator; nonlinear dynamic sliding manifolds; nonlinear transformation; output tracking error; remaining dynamics; sliding mode controller; sliding mode synthesis; sliding surface; unmatched nonlinearities; variable structure control; Control nonlinearities; Control systems; Frequency; MIMO; Manifolds; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Nonlinear systems; Sliding mode control;
Conference_Titel :
Intelligent Control, 1994., Proceedings of the 1994 IEEE International Symposium on
Conference_Location :
Columbus, OH
Print_ISBN :
0-7803-1990-7
DOI :
10.1109/ISIC.1994.367801
