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Prescribed and controlled finite-time convergence based on a disturbance observer for an adaptive sliding mode controller
International Journal of Control ( IF 2.1 ) Pub Date : 2021-01-07 , DOI: 10.1080/00207179.2020.1870048
Jonathan Rodriguez 1 , Herman Castañeda 1 , J. L. Gordillo 1
Affiliation  

ABSTRACT

This paper proposes a method based on Lyapunov theory to guarantee a definite exact convergence time for an adaptive sliding mode controller applied to a class of nonlinear uncertain systems subject to bounded perturbations. To achieve the objective, the gain adaptation law is enhanced with a sliding mode disturbance observer. The new control scheme ensures the sliding variable follows the defined segment-like trajectory during the reaching phase, thereby reducing the necessary control signal amplitude by avoiding the overestimation of the control gains. This novel approach allows a reduction of the design constraints on the system actuators while guaranteeing an exact desired convergence time under unknown bounded perturbations. The disturbance observer tuning methodology is also addressed in function of the expected perturbation signal type. To support the proposition, numerical simulations are performed to illustrate the fixed-time disturbance rejection capacities of the closed-loop system subject to constant, periodic, or stochastic perturbations on a tutorial example. Finally, the proposed controller is applied to drive the velocities of an unmanned surface vehicle model under realistic perturbations.



中文翻译:

自适应滑模控制器基于扰动观测器的规定和受控有限时间收敛

摘要

本文提出了一种基于李雅普诺夫理论的方法来保证自适应滑模控制器应用于一类受有界扰动的非线性不确定系统的精确收敛时间。为实现该目标,增益自适应律通过滑模扰动观测器得到增强。新的控制方案确保滑动变量在到达阶段遵循定义的分段轨迹,从而通过避免高估控制增益来降低必要的控制信号幅度。这种新颖的方法可以减少对系统执行器的设计约束,同时保证在未知的有界扰动下精确的期望收敛时间。扰动观测器调谐方法也根据预期扰动信号类型来解决。为了支持这个命题,我们通过数值模拟来说明闭环系统在一个教程示例中受到恒定、周期性或随机扰动影响的固定时间抗扰能力。最后,将所提出的控制器应用于在现实扰动下驱动无人水面车辆模型的速度。

更新日期:2021-01-07
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