Sliding mode control for time-varying delayed systems based on a reduced-order observer
Sliding mode control for time-varying delayed systems based on a reduced-order observer
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DOI：
10.1016/j.automatica.2010.05.017
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
Xing-gang Yan;S. Spurgeon;C. Edwards
中科院分区：
文献类型：
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作者：
Xing-gang Yan;S. Spurgeon;C. Edwards
本文研究了一类非线性系统的镇定问题，其中非线性项和非线性不确定项都是不匹配的，且具有时变时滞。在时滞已知的假设下，利用适当的变换设计了降维观测器。在由系统输出和估计状态构成的增广空间中，提出了一种滑模面。滑模动力学推导出使用等效控制方法，并利用Lyapunov-Razumikhin方法来分析滑动运动的稳定性。然后，滑模控制律的发展，使系统可以驱动到滑模面在有限的时间。仿真实例表明了该方法的有效性。
In this paper, a stabilisation problem for a class of nonlinear systems is considered, where both the nonlinear term and the nonlinear uncertainty are mismatched and subject to time-varying delay. Under the assumption that the delay is known, a reduced-order observer is designed using an appropriate transformation. A sliding surface is proposed in an augmented space formed by the system outputs and the estimated states. The sliding mode dynamics are derived using an equivalent control approach, and the Lyapunov–Razumikhin approach is exploited to analyse the stability of the sliding motion. Then, a sliding mode control law is developed such that the system can be driven to the sliding surface in finite time. A simulation example shows the effectiveness of the proposed approach.