Proceedings ArticleDOI
Robust universal servomechanisms with improved transient performance
Sridhar Seshagiri,Hassan K. Khalil +1 more
- Vol. 1, pp 891-896
TLDR
The design of a robust continuous sliding mode controller that achieves asymptotic tracking and disturbance rejection for a class of nonlinear systems is considered, and both regional as well as semi-global results for error convergence are given.Abstract:
We consider the design of a robust continuous sliding mode controller (CSMC) that achieves asymptotic tracking and disturbance rejection for a class of nonlinear systems. Previous work has shown how to do this by incorporating a linear servo-compensator in the sliding mode design, but the asymptotic tracking is usually achieved at the cost of poor transient performance (compared to ideal SMC). Extending previous ideas from the design of "conditional integrators" for the restricted regulation problem in the presence of constant disturbances, we design the servo-compensator as a conditional one that provides servo-compensation only inside the boundary layer; achieving asymptotic tracking, but with improved transient performance. We give both regional as well as semi-global results for error convergence, and show that the controller can be tuned to recover the performance of an ideal SMC.read more
Citations
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Proceedings ArticleDOI
Lyapunov Redesign Approach for Robust Output Regulation of a Class of Autonomous Underwater Vehicles using Conditional Servocompensator
TL;DR: In this paper, a robust output feedback Sliding Mode Control (SMC) is designed employing Extended High Gain Observer to achieve semi-global asymptotic stabilization of the internal state.
References
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Jie Huang,Ching-Fang Lin +1 more
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Journal ArticleDOI
On the design of robust servomechanisms for minimum phase nonlinear systems
TL;DR: In this paper, a linear servo compensator is used to achieve asymptotic tracking and disturbance rejection in a single-input single-output (SISO) nonlinear system.
Proceedings ArticleDOI
On introducing integral action in sliding mode control
TL;DR: This paper shows how to introduce integral action in such a way as to recover the transient performance of ideal SMC while achieving zero steady-state error, both regional as well as global results.
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