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New variable structure control for MIMO nonlinear system based on I/O linearization

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3 Author(s)
Chunshan, Xu ; Fuel Cell Institute, Department of Automation, Shanghai Jiaotong University, Shanghai 200030, P.R. China ; Xingjin, Sun ; Guangyi, Cao

A novel variable structure control (VSC) with new rapid-smooth reaching law (RSRL) and new rapid-convergent sliding mode (FCSM) is proposed, which is based on analysis of normal VSC system. When it is used for an MIMO nonlinear system, we combine the method of Input/Output linearizing (I/O L) with VSC. After analyzing the robustness of the MIMO nonlinear system, we use this novel controller for Precision One Robot position control system. Simulation provides a quite satisfactory performance with uncertainties and external disturbances.

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Systems Engineering and Electronics, Journal of  (Volume:15 ,  Issue: 4 )