CHATTERING ATTENUATION SLIDING MODE APPROACH FOR NONLINEAR SYSTEMS
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- Nemati, Hamidreza
- Department of Aeronautics and Astronautics, Kyushu University
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- Bando, Mai
- Department of Aeronautics and Astronautics, Kyushu University
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- HOKAMOTO, Shinji
- Department of Aeronautics and Astronautics, Kyushu University
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Abstract
This study introduces a new robust nonlinear control scheme based on the theory of nonsingular terminal sliding mode control (NTSMC). Since conventional NTSMC utilizes a discontinuous switching function, a significant flaw called chattering can occur. The main purpose of this study is to design a new switching function based upon Lyapunov stability in order to alleviate this drawback over time. There are many approaches to mitigate the chattering drawback in SMC such as utilizing a smooth approximation of the switching element, or employing higher order sliding mode control (HOSMC) strategy. However, the use of a continuous approximation affects the system’s performance and a finite reaching time to the sliding manifold, and in HOSMC the estimation of high-order derivatives of states is usually difficult and it still exhibits chattering in the presence of parasitic dynamics. In this study by employing a new sliding manifold including a time function, the chattering is attenuated as well as keeping the robustness. Finally, a second-order nonlinear dynamical system subject to disturbance is simulated to highlight the validity and applicability of the proposed method.
Journal
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- Asian Journal of Control
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Asian Journal of Control 19 (4), 1519-1531, 2017-07
Wiley
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Keywords
Details 詳細情報について
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- CRID
- 1050580007680733568
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- NII Article ID
- 120007053152
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- NII Book ID
- AA12787218
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- ISSN
- 19346093
- 15618625
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- HANDLE
- 2324/4479597
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- Text Lang
- en
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- Article Type
- journal article
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- Data Source
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- IRDB
- Crossref
- CiNii Articles
- KAKEN