Dynamic integral sliding mode for MIMO uncertain nonlinear systems |
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Authors: | Qudrat Khan Aamer Iqbal Bhatti Sohail Iqbal Mohammad Iqbal |
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Affiliation: | (1) Faculty of Engineering and Natural Sciences, Sabanci University, Orhanli, 34956 Tuzla, Istanbul, Turkey |
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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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Keywords: | |
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