Robust Predictor-Based Control of Uncertain Linear Systems with Delay via Integral Sliding Mode Control*. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Loukianov, A.G.; Caballero-Barragán, H.; Osuna-Ibarra, L. P; Plestan, F.
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 9631
• Page End: 9636
• Publication Date: 2017-07
• Subjects: Sliding Mode Control -- Linear System -- Robust Control -- Delay -- Predictive Control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.1717
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, a continuous control strategy for robust stabilization of a class of uncertain multivariable linear systems with delays in both the state and control variables is proposed. A predictor is designed to compensate the delay effect in control input, and then an integral sliding mode control technique along with super-twisting algorithm is applied to compensate partially the effect of the perturbation term. Finally, a nominal delay-free part of the control input is designed to stabilize the sliding mode dynamics. The method is extended to the class of systems modeled in Regular form, it is proposed a transformation for the systems with delay in state then results in a system delay-free in state. Conditions for the stability of the closed-loop uncertain system are derived. Simulation results are presented and compared against previous works.