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Robust control of a class of non-linear cascade systems: a novel sliding mode approach

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1 Author(s)
Su, J.P. ; Dept. of Electr. Eng., Nat. Yunlin Univ. of Sci. & Technol., Taiwan

A novel robust control scheme based on a sliding-mode approach is proposed for a general class of nonlinear uncertain systems with saturation-bounded inputs. By introducing a new sliding variable as a complement to the conventional sliding variable, a useful error measure is defined from which a new sliding-mode controller is developed. This controller can give a closed-loop system with better error responses during the reaching phase and a smaller ultimate error bound when in the boundary layer. Without raising the stability issue, an anti-windup compensator is incorporated into the proposed control scheme to help counteract the input-saturated effect. The nonlinear benchmark problem "RTAC" (Rotational/Translational Actuators) was used as a simulated example to demonstrate the effectiveness of the design

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:149 ,  Issue: 2 )