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An LMI-based composite nonlinear feedback terminal sliding-mode controller design for disturbed MIMO systems

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  • Mobayen, Saleh
  • Majd, Vahid Johari
  • Sojoodi, Mahdi

Abstract

This paper proposes a new nonlinear sliding surface for a terminal sliding mode (TSM) controller to achieve robustness and high performance tracking for the disturbed MIMO systems. The proposed method improves the transient performance and steady state accuracy in a finite time simultaneously. The control law is designed to guarantee the existence of the sliding mode around the nonlinear surface, and the damping ratio of the closed-loop system is increased as the output approaches the set-point. The conditions on the state error bound in finite time are expressed in the form of linear matrix inequalities (LMIs). A DC motor position tracking problem is considered as a case study. Simulation results are presented to show the effectiveness of the proposed method as a promising approach for controlling similar nonlinear systems.

Suggested Citation

  • Mobayen, Saleh & Majd, Vahid Johari & Sojoodi, Mahdi, 2012. "An LMI-based composite nonlinear feedback terminal sliding-mode controller design for disturbed MIMO systems," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 85(C), pages 1-10.
    • Handle: RePEc:eee:matcom:v:85:y:2012:i:c:p:1-10
    DOI: 10.1016/j.matcom.2012.09.006
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    References listed on IDEAS

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    1. Pisano, Alessandro & Usai, Elio, 2011. "Sliding mode control: A survey with applications in math," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 81(5), pages 954-979.
    2. Assawinchaichote, Wudhichai & Nguang, Sing Kiong & Shi, Peng & Boukas, El-Kébir, 2008. "H∞ fuzzy state-feedback control design for nonlinear systems with D-stability constraints: An LMI approach," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 78(4), pages 514-531.
    3. Yang, Dedong & Cai, Kai-Yuan, 2010. "Reliable guaranteed cost sampling control for nonlinear time-delay systems," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 80(10), pages 2005-2018.
    4. Heydari, Mahdi & Salarieh, Hassan & Behzad, Mehdi, 2011. "Stochastic chaos synchronization using Unscented Kalman–Bucy Filter and sliding mode control," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 81(9), pages 1770-1784.
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    Cited by:

    1. Mahmoodabadi, M.J., 2023. "An optimal robust fuzzy adaptive integral sliding mode controller based upon a multi-objective grey wolf optimization algorithm for a nonlinear uncertain chaotic system," Chaos, Solitons & Fractals, Elsevier, vol. 167(C).
    2. Zahra Mokhtare & Mai The Vu & Saleh Mobayen & Afef Fekih, 2022. "Design of an LMI-Based Fuzzy Fast Terminal Sliding Mode Control Approach for Uncertain MIMO Systems," Mathematics, MDPI, vol. 10(8), pages 1-12, April.
    3. Ayman A. Aly & Mai The Vu & Fayez F. M. El-Sousy & Ahmed Alotaibi & Ghassan Mousa & Dac-Nhuong Le & Saleh Mobayen, 2022. "Fuzzy-Based Fixed-Time Nonsingular Tracker of Exoskeleton Robots for Disabilities Using Sliding Mode State Observer," Mathematics, MDPI, vol. 10(17), pages 1-19, September.

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