Integral Sliding Modes with Nonlinear H∞-Control for Time-Varying Minimum-Phase Underactuated Systems with Unmatched Disturbances
المؤلفون المشاركون
Miranda-Colorado, Roger
Chavez, Carlos
Aguilar, Luis T.
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2017، العدد 2017 (31 ديسمبر/كانون الأول 2017)، ص ص. 1-13، 13ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2017-01-17
دولة النشر
مصر
عدد الصفحات
13
التخصصات الرئيسية
الملخص EN
This paper presents a methodology for controlling nonlinear time-varying minimum-phase underactuated systems affected by matched and unmatched perturbations.
The proposed control structure consists of an integral sliding mode control coupled together with a global nonlinear H∞-control for rejecting vanishing and nonvanishing matched perturbations and for attenuating the unmatched ones, respectively.
It is theoretically proven that, using the proposed controller, the origin of the free-disturbance nonlinear system is asymptotically stabilized, while the matched disturbances are rejected whereas the L2-gain of the corresponding nonlinear system with unmatched perturbation is less than a given disturbance attenuation level γ with respect to a given performance output.
The capability of the designed controller is verified through a flexible joint robot manipulator typically affected by both classes of external perturbations.
In order to assess the performance of the proposed controller, an existing sliding modes controller based on a nonlinear integral-type sliding surface is also implemented.
Both controllers are then compared for trajectory tracking tasks.
Numerical simulations show that the proposed approach exhibits better performance.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Miranda-Colorado, Roger& Chavez, Carlos& Aguilar, Luis T.. 2017. Integral Sliding Modes with Nonlinear H∞-Control for Time-Varying Minimum-Phase Underactuated Systems with Unmatched Disturbances. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1190522
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Miranda-Colorado, Roger…[et al.]. Integral Sliding Modes with Nonlinear H∞-Control for Time-Varying Minimum-Phase Underactuated Systems with Unmatched Disturbances. Mathematical Problems in Engineering No. 2017 (2017), pp.1-13.
https://search.emarefa.net/detail/BIM-1190522
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Miranda-Colorado, Roger& Chavez, Carlos& Aguilar, Luis T.. Integral Sliding Modes with Nonlinear H∞-Control for Time-Varying Minimum-Phase Underactuated Systems with Unmatched Disturbances. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1190522
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1190522
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر