Tensor product model transformation based decoupled terminal sliding mode control |
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| Authors: | Guoliang Zhao Hongxing Li Zhankui Song |
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| Affiliation: | 1. School of Control Science and Engineering, Faculty of Electronic Information and Electronic Engineering, Dalian University of Technology, Dalian, China;2. Reverse Engineering Research Institute, Modern Manufacture Engineering Center, Heilongjiang University of Science and Technology, Harbin, China |
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| Abstract: | The main objective of this paper is to propose a tensor product model transformation based decoupled terminal sliding mode controller design methodology. The methodology is divided into two steps. In the first step, tensor product model transformation is applied to the single-input-multi-output system and a parameter-varying weighted linear time-invariant system is obtained. Then, decoupled terminal sliding mode controller is designed based on the linear time-invariant systems. The main novelty of this paper is that the nonsingular terminal sliding mode control design is based on a numerical model rather than an analytical one. Finally, simulations are tested on cart-pole system and translational oscillations with a rotational actuator system. |
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| Keywords: | tensor product model tensor product model transformation decoupled terminal sliding mode control |
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