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HOSM controller design with an output constraint and its application.

Keqi Mei¹, Shihong Ding¹

¹School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu, 212013, China.

ISA Transactions

|February 7, 2021

Summary

This summary is machine-generated.

This study introduces a novel high-order sliding mode (HOSM) controller using barrier Lyapunov functions (BLF) to manage nonlinear systems with output constraints, ensuring finite-time stability.

Keywords:

Barrier Lyapunov function Finite-time stability High-order sliding mode Output constraint

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Area of Science:

Control Systems Engineering
Nonlinear Dynamics
Robotics and Automation

Background:

Nonlinear systems often face challenges with output constraints, impacting stability and performance.
Existing control strategies may struggle to simultaneously address sliding mode dynamics and output limitations.

Purpose of the Study:

To develop a high-order sliding mode (HOSM) controller capable of handling nonlinear systems with output constraints.
To ensure finite-time stability and adherence to pre-set output constraints for the controlled system.

Main Methods:

Integration of a barrier Lyapunov function (BLF) with the adding a power integrator (API) technique.
Development of a HOSM controller that manages closed-loop dynamics under output constraints.
Rigorous mathematical proofs to guarantee system stability and constraint satisfaction.

Main Results:

The proposed HOSM controller ensures finite-time stability for the closed-loop system.
The controller successfully achieves and maintains pre-set output constraints.
A numerical example demonstrates the advantages over traditional HOSM controllers.

Conclusions:

The developed HOSM controller effectively addresses nonlinear systems with output constraints.
The strategy is validated through application to a series elastic actuator system.
Simulation results confirm the efficacy and advantages of the proposed control algorithm.