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Constrained Robust Control by a Novel Dynamic Sliding Mode Surface

Kazem Zare, Mokhtar Shasadeghi*, Taher Niknam, Mohammad Hassan Asemani, and Saleh Mobayen*
International Journal of Control, Automation, and Systems, vol. 20, no. 3, pp.823-830, 2022

Abstract : In this paper, a sliding mode control (SMC) using a novel dynamic sliding surface is proposed for multi-input multi-output (MIMO) nonlinear systems. The proposed control design provides a robust approach with additional degrees of freedom to satisfy the control input constraint. By decomposing the original system into subsystems, the coupling dynamic terms are modelled in the form of system uncertainties. The dynamic sliding surface is established from inspiring state-space representation of an LTI system with error as input, internal states, and the surface as output. Moreover, the adaptive law is designed to estimate the upper bounds of uncertainties. The performance of the proposed controller is evaluated through a benchmark quadruple-tank process (QTP).

Keyword : Control input constraint, dynamic sliding surface, quadruple-tank process sliding mode control.

 
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