The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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A New Robust Variable Structure Controller With Nonlinear Integral-Type Sliding Surface for Uncertain More Affine Nonlinear Systems with Mismatched Uncertainties and Disturbance

부정합조건 불확실성과 외란을 갖는 비선형 시스템을 위한 비선형 적분형 슬라이딩 면을 갖는 새로운 강인한 가변구조제어기

  • 이정훈 (경상대학교 공대 전기전자공학부 제어계측공학과)
  • Received : 2009.12.04
  • Accepted : 2010.03.04
  • Published : 2010.07.01
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Abstract

In this note, a systematic general design of a new robust nonlinear variable structure controller based on state dependent nonlinear form is presented for the control of uncertain affine nonlinear systems with mismatched uncertainties and mismatched disturbance. After an affine uncertain nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a new robust nonlinear variable structure controller is presented. To be linear in the closed loop resultant dynamics, the nonlinear integral-type sliding surface is applied. A corresponding control input is proposed to satisfy the closed loop exponential stability and the existence condition of the sliding mode on the nonlinear integral-type sliding surface, which will be investigated in Theorem 1. Through a design example and simulation studies, the usefulness of the proposed controller is verified.

Keywords

References

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