One of the great concerns when tackling nonlinear systems is how to design a robust controller that is able to deal with uncertainty.Many researchers have been working on developing such type of controllers.One of the...One of the great concerns when tackling nonlinear systems is how to design a robust controller that is able to deal with uncertainty.Many researchers have been working on developing such type of controllers.One of the most effi-cient techniques employed to develop such controllers is sliding mode control(SMC).However,the low order SMC suffers from chattering problem which harm the actuators of the control system and thus unsuitable to be used in many practical applications.In this paper,the drawbacks of low order traditional sliding mode control(FOTSMC)are resolved by presenting a novel adaptive radial basis function neural network–based generalized rth order sliding mode control strategy for nth order uncertain nonlinear systems.The proposed solution adopts neural networks for their excellent capability in function approximation and thus used to approximate the nonlinearities and uncertainties for systems under considera-tion.The approximation errors are completely considered in the developed approach.The proposed approach can be used with any order of sliding mode and thus can be generally used with various types of applications.The global sta-bility of the proposed control approach is proved through Lyapunov stability cri-terion.The proposed approach is validated and assessed through simulations on the nonlinear inverted pendulum system with severe modeling uncertainties.The simulations results show that the proposed approach provide superior perfor-mance compared with other approaches in the literature.展开更多
As most real world systems are significantly nonlinear in nature,developing robust controllers have attracted many researchers for decades.Robust controllers are the controllers that are able to cope with the inherent...As most real world systems are significantly nonlinear in nature,developing robust controllers have attracted many researchers for decades.Robust controllers are the controllers that are able to cope with the inherent uncertainties of the nonlinear systems.Many control methods have been developed for this purpose.Sliding mode control(SMC)is one of the most commonly used methods in developing robust controllers.This paper presents a higher order SMC(HOSMC)approach to mitigate the chattering problem of the traditional SMC techniques.The developed approach combines a third order SMC with an adaptive PID(proportional,integral,derivative)sliding surface to overcome the drawbacks of using PID controller alone.Moreover,the presented approach is capable of adaptively tuning the controller parameters online to best fit the real time applications.The Lyapunov theory is used to validate the stability of the presented approach and its feasibility is tested through a comparison with other conventional SMC approaches.展开更多
基金funded by the Deputyship for Research&Innovation,Ministry of Education in Saudi Arabia through the project number(IF-PSAU-2021/01/17796).
文摘One of the great concerns when tackling nonlinear systems is how to design a robust controller that is able to deal with uncertainty.Many researchers have been working on developing such type of controllers.One of the most effi-cient techniques employed to develop such controllers is sliding mode control(SMC).However,the low order SMC suffers from chattering problem which harm the actuators of the control system and thus unsuitable to be used in many practical applications.In this paper,the drawbacks of low order traditional sliding mode control(FOTSMC)are resolved by presenting a novel adaptive radial basis function neural network–based generalized rth order sliding mode control strategy for nth order uncertain nonlinear systems.The proposed solution adopts neural networks for their excellent capability in function approximation and thus used to approximate the nonlinearities and uncertainties for systems under considera-tion.The approximation errors are completely considered in the developed approach.The proposed approach can be used with any order of sliding mode and thus can be generally used with various types of applications.The global sta-bility of the proposed control approach is proved through Lyapunov stability cri-terion.The proposed approach is validated and assessed through simulations on the nonlinear inverted pendulum system with severe modeling uncertainties.The simulations results show that the proposed approach provide superior perfor-mance compared with other approaches in the literature.
基金This work is funded by the Deputyship for Research&Innovation,Ministry of Education in Saudi Arabia through the project number(IF-PSAU-2021/01/17796).
文摘As most real world systems are significantly nonlinear in nature,developing robust controllers have attracted many researchers for decades.Robust controllers are the controllers that are able to cope with the inherent uncertainties of the nonlinear systems.Many control methods have been developed for this purpose.Sliding mode control(SMC)is one of the most commonly used methods in developing robust controllers.This paper presents a higher order SMC(HOSMC)approach to mitigate the chattering problem of the traditional SMC techniques.The developed approach combines a third order SMC with an adaptive PID(proportional,integral,derivative)sliding surface to overcome the drawbacks of using PID controller alone.Moreover,the presented approach is capable of adaptively tuning the controller parameters online to best fit the real time applications.The Lyapunov theory is used to validate the stability of the presented approach and its feasibility is tested through a comparison with other conventional SMC approaches.
