The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Robust Global Exponential Stabilization of Uncertain Affine MIMO Nonlinear Systems with Mismatched Uncertainties by Multivariable Sliding Mode Control

다변수 슬라이딩 모드 제어에 의한 부정합조건 불확실성을 갖는 다입출력 비선형 시스템의 강인그로벌 지수 안정화

  • 이정훈 (국립 경상대학교 공대 제어계측공학과)
  • Received : 2010.09.07
  • Accepted : 2011.05.18
  • Published : 2011.09.01
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Abstract

In this paper, a systematic design of a robust nonlinear multivariable variable structure controller based on state dependent nonlinear form is presented for the control of MIMO uncertain affine nonlinear systems with mismatched uncertainties and matched disturbance. After a MIMO uncertain affine nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a robust nonlinear variable structure controller is presented. To be linear in the closed loop resultant dynamics, the linear sliding surface is applied. A corresponding diagonalized control input is proposed to satisfy the closed loop global exponential stability and the existence condition of the sliding mode on the linear sliding surface, which will be investigated in Theorem 1. Through a design example and simulation study, the usefulness of the proposed controller is verified.

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References

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