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Optimal second order sliding mode control for nonlinear uncertain systems.

Madhulika Das1, Chitralekha Mahanta1

  • 1Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Guwahati 781039, India.

ISA Transactions
|May 1, 2014
PubMed
Summary
This summary is machine-generated.

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This study introduces an optimal second-order sliding mode control (OSOSMC) to stabilize uncertain nonlinear systems. The novel method effectively reduces control signal chatter, enhancing system stability and robustness against disturbances.

Area of Science:

  • Control Systems Engineering
  • Nonlinear Dynamics
  • Robotics

Background:

  • Nonlinear systems are susceptible to uncertainties and external disturbances, posing challenges for stabilization.
  • Traditional sliding mode control (SMC) methods often suffer from chattering, limiting their practical application.
  • Control Lyapunov functions (CLF) provide a robust framework for designing stabilizing controllers for nonlinear systems.

Purpose of the Study:

  • To propose a chattering-free optimal second-order sliding mode control (OSOSMC) method.
  • To enhance the robustness of controllers for nonlinear systems facing parametric uncertainty and external disturbances.
  • To demonstrate the superiority of the proposed OSOSMC over existing methods.

Main Methods:

  • Development of a nonlinear optimal control strategy based on Control Lyapunov Function (CLF).
Keywords:
Chattering mitigationControl Lyapunov functionIntegral sliding modeOptimal controlTerminal sliding mode

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  • Implementation of a sliding mode control scheme by integrating integral and terminal sliding surfaces.
  • Design of a second-order sliding mode to mitigate control input chattering.

    • Main Results:

    • The proposed OSOSMC method effectively stabilizes nonlinear systems with uncertainties.
    • The integrated sliding surface design significantly reduces chattering in the control input.
    • Simulation results validate the enhanced performance and robustness of OSOSMC.

    Conclusions:

    • The developed OSOSMC offers a robust and chattering-free solution for stabilizing uncertain nonlinear systems.
    • The CLF-based optimal control strategy combined with advanced sliding surfaces proves effective.
    • OSOSMC demonstrates superior performance compared to existing sliding mode controllers in challenging environments.