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Sliding Mode Preview Repetitive Control for Interconnected Nonlinear Systems

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Abstract

This paper designs a decentralized sliding mode preview repetitive control (SMPRC) for interconnected nonlinear systems. First, an augmented error system, which is composed of the derivative equation of the available future reference dynamics, the output of the modified repetitive controller and the tracking error dynamics, is constructed. Next, an integral switching surface is designed to verify the robust asymptotic stability of the considered system subject to nonlinearity. Then, the preview repetitive-control (PRC) law design problem is transformed into the stability problem of the augmented system considering the nominal conditions. Thereafter, a sliding mode control (SMC) law cooperates with the PRC law with the purpose to ensure the robustness of the interconnected systems in the presence of nonlinearity. Further, the required stability conditions are derived on the basis of a Lyapunov analysis, linear matrix inequalities (LMI) and the singular-value-decomposition (SVD) technique. Finally, the numerical simulation results demonstrate the effectiveness of the proposed method.

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No data was used for the research described in the article.

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Funding

This study is supported by National Natural Science Foundation of China (61573298) and Natural Science Foundation of Hunan Province (2021JJ50115).

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Authors and Affiliations

  1. School of Automation and Electronic Information, Xiangtan University, Xiangtan, Hunan, People’s Republic of China

    Yong-Hong Lan & Zhao Luo

  2. College of Electrical and Information, Hunan Institute of Engineering, Xiangtan, Hunan, People’s Republic of China

    Jian-De Yan

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  1. Yong-Hong Lan
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  2. Zhao Luo
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Correspondence to Zhao Luo.

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Lan, YH., Luo, Z. & Yan, JD. Sliding Mode Preview Repetitive Control for Interconnected Nonlinear Systems. Circuits Syst Signal Process (2024). https://doi.org/10.1007/s00034-024-02639-9

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