DocumentCode :
1161025
Title :
Robust practical stabilization of nonlinear uncertain plants with input and output nonsmooth nonlinearities
Author :
Corradini, M. Letizia ; Orlando, Giuseppe
Author_Institution :
Dipt. di Ingegneria dell´´Innovazione, Univ. di Lecce, Italy
Volume :
11
Issue :
2
fYear :
2003
fDate :
3/1/2003 12:00:00 AM
Firstpage :
196
Lastpage :
203
Abstract :
This paper addresses the stabilization problem of "sandwich systems," i.e., intrinsically nonlinear and uncertain single-input-multiple output (SIMO) plants containing simultaneously either backlash or dead zone in the actuator and dead zones in sensors. The proposed controllers, based on sliding mode control, have been shown to achieve state (hence output) boundedness. The rationale followed in control design consists in ensuring the achievement of a sliding motion which, in turn, guarantees the attraction of the state vector toward a boundary layer, whose maximum width depends on the uncertainty in output measurements caused by the presence of unknown dead zones in sensors. Furthermore, the control laws have been designed as to simultaneously guarantee also the avoidance of actuator nonlinearities, ensuring that the "forbidden region" of dead zone and backlash are never entered, even in the presence of uncertainties. The proposed schemes do not require inversion of nonlinearity. Simulation results show the effectiveness of the proposed controllers.
Keywords :
actuators; infrared detectors; nonlinear control systems; robust control; variable structure systems; actuator; actuator nonlinearities; backlash; dead zone; dead zones; nonlinear uncertain plants; nonsmooth nonlinearities; robust practical stabilization; sensors; simulation results; single-input-multiple output plants; sliding mode control; state boundedness; Actuators; Control nonlinearities; Feedback control; Gears; Manipulators; Mechanical sensors; Robust control; Robustness; Sensor systems; Sliding mode control;
fLanguage :
English
Journal_Title :
Control Systems Technology, IEEE Transactions on
Publisher :
ieee
ISSN :
1063-6536
Type :
jour
DOI :
10.1109/TCST.2002.806455
Filename :
1186749
Link To Document :
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