Dynamic integral sliding mode for MIMO uncertain nonlinear systems

Abstract

In this paper the authors propose a novel sliding mode control methodology for Multi-Input and Multi-Output (MIMO) uncertain nonlinear systems. The proposed approach synthesizes dynamic sliding mode and integral sliding mode control strategies into dynamic integral sliding mode. The new control laws establish sliding mode without reaching phase with the use of an integral sliding manifold. Consequently, robustness against uncertainties increases from the very beginning of the process. Furthermore, the control laws considerably alleviate chattering along the switching manifold. In addition, the performance of the controller boost up in the presence of uncertainties. A comprehensive comparative analysis carried out with dynamic sliding mode control and integral sliding mode control demonstrates superiority of the newly designed control law. A chatter free regulation control of two uncertain nonlinear systems with improved performance in the presence of uncertainties ensures the robustness of the proposed dynamic integral sliding mode controller.

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Correspondence to Qudrat Khan.

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Recommended by Editorial Board member Guang-Hong Yang under the direction of Editor Jae Weon Choi. This research work is conducted at Control and Signal Processing Research (CASPR) Group.

Qudrat Khan is a postgraduate student with the Department of Electronic Engineering Mohammad Ali Jinnah University Islamabad, Pakistan. His professional interests are observer design and parameter estimation, theory of sliding mode control and its application and analytical dynamics.

Aamer Iqbal Bhatti got his Bachelor’s degree in Electrical Engineering from UET Lahore in 1993; Masters in Control Systems from Imperial College of Science, Technology & Medicine, London, in 1994. He did his Ph.D. and postdoctorial research in Control Engineering in 1998, 1999 from Leicester University UK. Currently, he is a Professor of DSP and Control Systems. His research interests are sliding mode applications and radar signal processing and have published more than 68 refereed research papers.

Sohail Iqbal is doing his Ph.D. from Mohammad Ali Jinnah University, Islamabad. Currently, he is with university of Leicester, UK as Research Fellow. His research interests are control theory & robotics systems emphasizing on higher order sliding mode theory and parallel robotic manipulators.

Mohammad Iqbal is a Ph.D. candidate at Center for Advanced Studies in Engineering (CASE), Islamabad. He is the first author and co-author of more than 16 refereed international publications. His research interests are controls & DSP applications emphasizing fault diagnosis of uncertain nonlinear dynamic systems.

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Khan, Q., Bhatti, A.I., Iqbal, S. et al. Dynamic integral sliding mode for MIMO uncertain nonlinear systems. Int. J. Control Autom. Syst. 9, 151–160 (2011). https://doi.org/10.1007/s12555-011-0120-8

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Keywords

  • Chattering
  • dynamic sliding modes
  • integral manifold
  • MIMO non-linear control
  • robustness