The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Three-Level Decoupled Sliding Mode Control

3단 비간섭 슬라이딩모드 제어

  • Published : 2000.08.01
Download PDF
⟨ Previous Next ⟩

Abstract

A three-level decoupled sliding mode controller is developed to achieve asymptotic stability for a class of sixth-order nonlinear systems. The sixth-order system is decoupled into three subsystems according to the structure of the whole system. Each subsystem has a separate control target in the form of a sliding surface. The information of the third sliding surface is transferred to the second one through an intermediate variable and the information of the second sliding surface is transferred to the first one through another intermediate variable. Consequently, the controller designed on the basis of the first sliding surface can make three subsystems move toward their sliding surfaces, respectively. The three-level decoupled sliding mode controller is applied to the double-inverted pendulum problem where the zero stable states are required.

Keywords

References

  1. R. A. Decarlo, S. H. Zak, and G. P. Matthews, 'Variable structure control of nonlinear multivariable systems: a tutorial,' Proc. IEEE, vol. 76, pp. 212-232, 1988 https://doi.org/10.1109/5.4400
  2. V. I. Utkin, 'Variable structure systems with sliding modes,' IEEE Trans. Automatic Control, vol. AC-22, no. 2, pp. 212-222, Apr. 1977
  3. F. Harashima, H. Hashimoto, and K. Maruyama, 'Sliding mode control of manipulator with time-varying switching surfaces,' Trans. of the Society of Instrument and Control Engineers, Japan, vol. 22, no. 3, pp. 87-94, Mar. 1985
  4. J. J. Slotine, and S. S. Sastry, 'Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators,' Int. J. Control, vol. 38, no. 2, pp. 465-492, 1983 https://doi.org/10.1080/00207178308933088
  5. S. V. Drakunov, 'Sliding-mode observers based on equivalent control method,' Proc. 31st IEEE Conf. Decision and Control, Tucson, Arizona, pp. 2368-2369, 1992
  6. W. S. Levine, 'The control handbook Vol. 2,' CRC Press and IEEE Press, pp. 941-951, 1996
  7. J. Lo and Y. Kuo, 'Decoupled fuzzy sliding-mode control,' IEEE Trans. Fuzzy Syst., vol. 6, no. 3, pp. 426-435, Aug. 1998 https://doi.org/10.1109/91.705510
  8. V. I. Utkin, 'Sliding modes and their application to variable structure systems,' MIR Publishers, Moscow, 1978
  9. J. H. Lee and H. B. Shin, 'Continuous variable structure system for tracking control of BLDCM,' IEEE International Workshop on Variable Structure Systems, VSS'96, Tokyo, Japan, pp.84-90, Dec. 1996 https://doi.org/10.1109/VSS.1996.578564
  10. H. B. Shin, K. Y. Cho, and M. J. Youn, 'Variable structure observer of mismatched uncertain dynamical systems,' Electron. Lett., vol. 27, no. 20, pp. 301-307, Sept. 1991 https://doi.org/10.1049/el:19911118
  11. L. Wang, 'A course in fuzzy systems and control,' Prentice Hall PTR, 1997