Book ChapterDOI
Design of Sliding Mode Controller with Actuator Saturation
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This chapter discusses two methods of designing a sliding surface in the face of an actuator saturation constraint for a class of nonlinear uncertain systems based on the low gain approach proposed by Lin et al.Abstract:
This chapter discusses two methods of designing a sliding surface in the face of an actuator saturation constraint for a class of nonlinear uncertain systems. The first approach uses an ARE based approach to design the sliding surface and the second approach uses the parametric Lyapunov equation to design the surface. These methods are based on the low gain approach proposed by Lin et al. The design methods give a surface matrix as a function of the designed parameter. This parameter can be modulated to reduce the control amplitude which ensures that the control limits are respected in a region of the state space. This region can be made sufficiently large by choosing appropriate values of the design parameter.read more
Citations
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Journal ArticleDOI
Sliding mode control design of a ship steering autopilot with input saturation
Muhammad Ejaz,Mou Chen +1 more
TL;DR: A sliding mode control scheme for the autopilot system of a ship is presented, which also incorporates actuator saturation, and the proposed controller is more efficient as compared to the traditional and saturation function methods.
Journal ArticleDOI
Saturated Lipschitz Continuous Sliding Mode Controller for Perturbed Systems With Uncertain Control Coefficient
TL;DR: The proposed controller ensures global finite-time convergence to the sliding surface by means of a control signal that is Lipschitz continuous (i.e., has finite gain) and is bounded by a given actuator limit.
Journal ArticleDOI
A new configuration of composite nonlinear feedback control for nonlinear systems with input saturation
TL;DR: In this paper , a U-control-based composite nonlinear feedback (U-CNF) design procedure is proposed, where two controllers, in terms of double dynamic inversion, are designed separately, stabilising and cancelling the nonlinearities and dynamics (convert the plant into an identity matrix) in the inner closed-loop, and then improving the system transient response by specifying a second-order linear system with a monotonic nonlinear function to smoothly tune the damping ratio.
Book ChapterDOI
Constrained Sliding-Mode Control: A Survey
TL;DR: In this article, the robust control of input and state-constrained nonlinear systems is discussed from the perspective of sliding-mode control, and some of them are briefly discussed, in particular cases providing also commented examples.
Proceedings ArticleDOI
Disturbance observer based backstepping MIMO control design for a marine vessel in the presence of input saturation and external disturbance
TL;DR: A MIMO autopilot control for a marine vessel has been designed such that it can perform well in the presence of input saturation and external disturbances and a method based upon fuzzy logic is presented to tackle input saturation.
References
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Journal ArticleDOI
Families of linear-quadratic problems: Continuity properties
TL;DR: In this article, the authors investigated the parameter dependence of the linear-quadratic optimal cost, optimal control inputs, optimal state-trajectories, and optimal outputs for one-parameter families of linear time-invariant finite-dimensional systems.
Journal ArticleDOI
Piecewise-Linear Robust Control of Systems with Input Constraints
TL;DR: A local approach is taken to find a robust control law and a set of initial conditions that can be stabilised, and a piecewiselinear control law is described that is generated by a parametrised algebraic Riccati equation or a parameterised linear matrix inequality determinant maximisation problem.
Proceedings ArticleDOI
Sliding surface design with saturated actuator
TL;DR: A class of nonlinear uncertain systems with saturated actuator withSliding surface matrix is obtained using parameterized Riccatti equation and the proposed surface ensures that control limits are respected in a region of state space.