Discrete-time sliding-surface based control of parametrically uncertain nonlinear systems with unknown time-delay and inaccessible switching mode detection

This paper focuses on proposing a novel method regarding general tracking control of discrete high-order parametrically uncertain systems with unknown arbitrary switching signals and unknowable time-delay. To this end, a common Lyapunov-Krasovski function (CLKF) is designed based on the sliding hype...

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Bibliographic Details
Published in:International journal of control Vol. 94; no. 3; pp. 623 - 642
Main Authors: Homaeinezhad, M. R., Yaqubi, S.
Format: Journal Article
Language:English
Published: Abingdon Taylor & Francis 04.03.2021
Taylor & Francis Ltd
Subjects:
Algorithms
common Lyapunov-Krasovski function
Control algorithms
Control methods
Control stability
Control systems
Control theory
Discrete-time sliding control
disturbance rejection
Nonlinear control
Nonlinear systems
parametric uncertainty
Sliding
Subsystems
Switching
time-delay uncertainty
Tracking control
unknown arbitrary switching
ISSN:0020-7179, 1366-5820
Online Access:Get full text
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Summary:This paper focuses on proposing a novel method regarding general tracking control of discrete high-order parametrically uncertain systems with unknown arbitrary switching signals and unknowable time-delay. To this end, a common Lyapunov-Krasovski function (CLKF) is designed based on the sliding hyper-plane featuring individual subsystems in various switching cases. Investigating the proposed function, the necessary conditions for achieving control objectives are obtained in order to ensure stability and finite-time convergence to an invariant set over various modes of an uncertain arbitrary switching signal. Despite constructing the control algorithm for general switched systems, the selection of control signal is based on appropriately calculated input bounds rather than a switching term itself, resulting in no chattering effects in control input. Subsequently, the effectiveness and accuracy of the proposed control method is verified using numerical and experimental examples.
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ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2019.1605205