Abstract
In this paper, a combination of integral sliding mode and composite nonlinear feedback method is proposed for fast and accurate robust tracking and model following of uncertain multiple-input multiple-output linear systems with multiple time-delays and external disturbances. The composite nonlinear feedback technique allows following the reference trajectory within a given accuracy and the invariance property of the integral sliding mode method rejects the disturbances and preserves the stability of the closed-loop system. By using the Lyapunov–Krasovskii functional, the conditions for asymptotic stabilization are obtained in the form of linear matrix inequalities. To improve the tracking performance for different reference amplitudes, a new nonlinear function is included in the control law and is optimally tuned using a modified random search algorithm. The selection of sliding surface and the existence of the sliding mode are two significant issues, which have been addressed. This scheme not only guarantees robustness against time-delays and uncertainties, but also avoids chattering phenomenon and reaching phase. Finally, the simulations are provided to verify the theoretical results. The results show that the proposed method leads to great improvement on the tracking error and the control effort compared to the available methods.
Similar content being viewed by others
References
Pai, M.C.: Design of adaptive sliding mode controller for robust tracking and model following. J. Franklin Inst. 347, 1837–1849 (2010)
Chang, J.L.: Dynamic output feedback sliding mode control for uncertain mechanical systems without velocity measurements. ISA Trans. 49, 229–234 (2010)
Aghababa, M.P.: No-chatter variable structure control for fractional nonlinear complex systems. Nonlinear Dyn. 73, 2329–2342 (2013)
Mobayen, S.: Design of LMI-based global sliding mode controller for uncertain nonlinear systems with application to Genesio’s chaotic system. Complexity (2014). doi:10.1002/cplx.21545
Mobayen, S., Yazdanpanah, M.J., Majd, V.J.: A finite-time tracker for nonholonomic systems using recursive singularity-free FTSM. In: 2011 American control Conference, San Francisco, CA, USA, pp. 1720–1725 (2011)
Mobayen, S.: Finite-time robust-tracking and model-following controller for uncertain dynamical systems. J. Vib. Control (2014). doi:10.1177/1077546314538991
Mobayen, S.: Fast terminal sliding mode controller design for nonlinear second-order systems with time-varying uncertainties. Complexity (2014). doi:10.1002/cplx.21600
Hamayun, M., Edwards, C., Alwi, H.: Design and analysis of an integral sliding mode fault-tolerant control scheme. IEEE Trans. Autom. Control 57, 1783–1789 (2012)
Pai, M.C.: Discrete-time output feedback quasi-sliding mode control for robust tracking and model following of uncertain systems. J. Franklin Inst. 351, 2623–2639 (2014)
Aghababa, M.P.: Synchronization and stabilization of fractional second order nonlinear complex systems. Nonlinear Dyn. (2014). doi:10.1007/s11071-014-1411-4
Faieghi, M.R., Kuntanapreeda, S., Delavari, H., Baleanu, D.: LMI-based stabilization of a class of fractional-order chaotic systems. Nonlinear Dyn. 72, 301–309 (2013)
Mobayen, S.: An LMI-based robust controller design using global nonlinear sliding surfaces and application to chaotic systems. Nonlinear Dyn. (2014). doi:10.1007/s11071-014-1724-3
Gao, Q., Liu, L., Feng, G., Wang, Y., Qiu, J.: Universal fuzzy integral sliding-mode controllers based on T–S fuzzy models. IEEE Trans. Fuzzy Syst. 22, 350–352 (2014)
Zheng, Z., Sun, W., Chen, H., Yeow, J.T.W.: Integral sliding mode based optimal composite nonlinear feedback control for a class of systems. Control Theory Technol. 12, 139–146 (2014)
Gao, Z., Liao, X.: Integral sliding mode control for fractional-order systems with mismatched uncertainties. Nonlinear Dyn. 72, 27–35 (2013)
Chang, J.L.: Dynamic output feedback integral sliding mode control design for uncertain systems. Int. J. Robust Nonlinear Control 22, 841–857 (2012)
Ting, H.C., Chang, J.L., Chen, Y.P.: Output feedback integral sliding mode controller of time-delay systems with mismatch disturbances. Asian J. Control 14, 85–94 (2012)
Sun, H., Li, S., Sun, C.: Finite time integral sliding mode control of hypersonic vehicles. Nonlinear Dyn. 73, 229–244 (2013)
Zhao, L.W., Hua, C.C.: Finite-time consensus tracking of second-order multi-agent systems via nonsingular TSM. Nonlinear Dyn. 75, 311–318 (2014)
Fei, J., Ding, H.: Adaptive sliding mode control of dynamic system using RBF neural network. Nonlinear Dyn. 70, 1563–1573 (2012)
Wang, L., Sheng, Y., Liu, X.: A novel adaptive high-order sliding mode control based on integral sliding mode. Int. J. Control Autom. Syst. 12, 459–472 (2014)
Mondal, S., Mahanta, C.: Composite nonlinear feedback based discrete integral sliding mode controller for uncertain systems. Commun. Nonlinear Sci. Numer. Simul. 17, 1320–1331 (2011)
Mobayen, S.: Robust tracking controller for multivariable delayed systems with input saturation via composite nonlinear feedback. Nonlinear Dyn. 76, 827–838 (2014)
Mobayen, S., Majd, V.J.: Robust tracking control method based on composite nonlinear feedback technique for linear systems with time-varying uncertain parameters and disturbances. Nonlinear Dyn. 70, 171–180 (2012)
Mobayen, S.: Design of CNF-based nonlinear integral sliding surface for matched uncertain linear systems with multiple state-delays. Nonlinear Dyn. 77, 1047–1054 (2014)
Cheng, G., Peng, K.: Robust composite nonlinear feedback control with application to a servo positioning system. IEEE Trans. Ind. Electron. 54, 1132–1140 (2007)
Lan, W., Thum, C.K., Chen, B.M.: A hard-disk-drive servo system design using composite nonlinear feedback control with optimal nonlinear gain tuning methods. IEEE Trans. Ind. Electron. 57, 1735–1745 (2010)
Peng, K., Chen, B.M., Cheng, G., Lee, T.H.: Modeling and compensation of nonlinearities and friction in a micro hard disk drive servo system with nonlinear feedback control. IEEE Trans. Control Syst. Technol. 13, 708–721 (2005)
Mondal, S., Mahanta, C.: A fast converging robust controller using adaptive second order sliding mode. ISA Trans. 51, 713–721 (2012)
Bandyopadhyay, B., Deepak, F., Park, Y.J.: A robust algorithm against actuator saturation using integral sliding mode and composite nonlinear feedback. In: Proceedings of the 17th World Congress, The International Federation of Automatic Control, COEX, South Korea, pp. 14174–14179 (2008)
Mobayen, S.: Finite-time stabilization of a class of chaotic systems with matched and unmatched uncertainties: an LMI approach. Complexity (2014). doi:10.1002/cplx.21624
Mobayen, S., Majd, V.J., Sojoodi, S.: An LMI-based composite nonlinear feedback terminal sliding-mode controller design for disturbed MIMO systems. Math. Comput. Simul. 85, 1–10 (2012)
Pai, M.C.: Discrete-time sliding mode control for robust tracking and model following of systems with state and input delays. Nonlinear Dyn. 76, 1769–1779 (2014)
Wu, H.: Adaptive robust tracking and model following of uncertain dynamical systems with multiple time delays. IEEE Trans. Autom. Control 49, 611–616 (2004)
Wu, H.: Adaptive robust control of uncertain dynamical systems with multiple time-varying delays. IET Control Theory Appl. 4, 1775–1784 (2010)
Pai, M.C.: Robust tracking and model following of uncertain dynamic systems via discrete-time integral sliding mode control. Int. J. Control Autom. Syst. 7, 381–387 (2009)
Hespanha, J.P.: Linear Systems Theory. Princeton University Press, Princeton (2009)
Chesi, G.: LMI techniques for optimization over polynomials in control: a survey. IEEE Trans. Autom. Control 55, 2500–2510 (2010)
Li, T.H.S., Huang, Y.C.: MIMO adaptive fuzzy terminal sliding-mode controller for robotic manipulators. Inf. Sci. 180, 4641–4660 (2010)
Hassanzadeh, I., Mobayen, S.: Controller design for rotary inverted pendulum system using evolutionary algorithms. Math. Probl. Eng. 2011, 1–17 (2011)
Zhang, J., Xia, Y.: Design of static output feedback sliding mode control for uncertain linear systems. IEEE Trans. Ind. Electron. 57, 2061–2070 (2010)
Bandyopadhyay, B., Deepak, F., Kim, K.S.: Sliding Mode Control Using Novel Sliding Surfaces. Springer, Berlin Heidelberg (2009)
Delavari, H., Ranjbar, A.N., Ghaderi, R.: Fractional order control of a coupled tank. Nonlinear Dyn. 61, 383–397 (2010)
Lim, C.W., Park, Y.J., Moon, S.J.: Robust saturation controller for linear time-invariant system with structured real parameter uncertainties. J. Sound Vib. 294, 1–14 (2006)
Lingrong, D., Zhixiang, T.: First order dynamic sliding mode control for wheeled mobile robots. Commun. Comput. Inf. Sci. 232, 373–381 (2011)
Falahpoor, M., Ataei, M., Kiyoumarsi, A.: A chattering-free sliding mode control design for uncertain chaotic systems. Chaos Soliton Fractals 42, 1755–1765 (2009)
Hassanzadeh, I., Harifi, A., Arvani, F.: Design and implementation of an adaptive control for a robot. Am. J. Appl. Sci. 4, 56–59 (2007)
Hassanzadeh, I., Mobayen, S.: PSO-based controller design for rotary inverted pendulum system. J. Appl. Sci. 8, 2907–2912 (2008)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Majd, V.J., Mobayen, S. An ISM-based CNF tracking controller design for uncertain MIMO linear systems with multiple time-delays and external disturbances. Nonlinear Dyn 80, 591–613 (2015). https://doi.org/10.1007/s11071-015-1892-9
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11071-015-1892-9