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Constrained Robust Control by a Novel Dynamic Sliding Mode Surface

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  • Control Theory and Applications
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Abstract

In this paper, a sliding mode control (SMC) using a novel dynamic sliding surface is proposed for multi-input multi-output (MIMO) nonlinear systems. The proposed control design provides a robust approach with additional degrees of freedom to satisfy the control input constraint. By decomposing the original system into subsystems, the coupling dynamic terms are modelled in the form of system uncertainties. The dynamic sliding surface is established from inspiring state-space representation of an LTI system with error as input, internal states, and the surface as output. Moreover, the adaptive law is designed to estimate the upper bounds of uncertainties. The performance of the proposed controller is evaluated through a benchmark quadruple-tank process (QTP).

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Funding

This work was supported in part by the Ministry of Science and Technology (MOST), Taiwan, under Grant MOST 110-2222-E-224-001.

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Authors and Affiliations

  1. Department of Electrical and Electronics Engineering, Shiraz University of Technology, Shiraz, Iran

    Kazem Zare, Mokhtar Shasadeghi & Taher Niknam

  2. Department of Electrical and Computer Engineering, Shiraz University, Shiraz, Iran

    Mohammad Hassan Asemani

  3. Future Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin, 64002, Taiwan

    Saleh Mobayen

Authors
  1. Kazem Zare
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  2. Mokhtar Shasadeghi
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  3. Taher Niknam
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  4. Mohammad Hassan Asemani
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  5. Saleh Mobayen
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Corresponding authors

Correspondence to Mokhtar Shasadeghi or Saleh Mobayen.

Additional information

Kazem Zare is currently working toward a Ph.D. degree in control engineering at Shiraz University of Technology, Shiraz, Iran. His research interests include robust control and intelligent control.

Mokhtar Shasadeghi is currently an Associate Professor at Shiraz University of Technology, Shiraz, Iran. His research interests include fuzzy control, linear matrix inequalities, and optimization.

Taher Niknam is currently a professor at Shiraz University of Technology, Shiraz, Iran. His research interests include power system, optimization methods, and evolutionary algorithms.

Mohammad Hassan Asemani is currently an Associate Professor at Shiraz University, Iran. His research interests include controller design for non-linear systems using TS fuzzy models, observer-based control, and LMIs in control.

Saleh Mobayen is currently an Associate Professor at University of Zanjan, Iran. His research interests include nonlinear control, sliding mode control, robotics, optimal control, and LMIs.

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Zare, K., Shasadeghi, M., Niknam, T. et al. Constrained Robust Control by a Novel Dynamic Sliding Mode Surface. Int. J. Control Autom. Syst. 20, 823–830 (2022). https://doi.org/10.1007/s12555-020-0418-5

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  • DOI: https://doi.org/10.1007/s12555-020-0418-5

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