Title :
Cheap Suboptimal Control of an Integral Sliding Mode for Uncertain Systems With Delays
Author :
Glizer, Valery Y. ; Fridman, Leonid M. ; Turetsky, Vladimir
Author_Institution :
Technion-Israel Inst. of Technol., Haifa
Abstract :
A cheap control problem for a system with state delays and matched uncertainties is studied. First, such a cheap control problem is considered for the nominal linear system associated with the original one. A suboptimal state-feedback composite control for this problem is constructed using a singular perturbation technique. Employing this composite control in the nominal system generates the suboptimal nominal trajectory. Secondly, based on the composite control, an integral sliding mode controller is designed for the original system, providing its robust motion along the suboptimal nominal trajectory. An illustrative numerical example is presented.
Keywords :
delays; singular optimal control; state feedback; variable structure systems; cheap suboptimal control; composite control; integral sliding mode; integral sliding mode controller; nominal linear system; singular perturbation technique; state delays; suboptimal nominal trajectory; suboptimal state-feedback composite control; uncertain systems; Control systems; Cost function; Delay effects; Delay systems; Motion control; Process control; Sliding mode control; Symmetric matrices; Uncertain systems; Uncertainty; Cheap control; singular perturbation; sliding mode control; time delay system;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2007.906201