Trajectory tracking for uncertain (non)minimum phase systems by monitoring function and time-scaling based sliding mode control. (June 2020)

• Record Type: Journal Article
• Authors: Santos, Roberto; Oliveira, Tiago Roux
• Is Part Of: IFAC journal of systems and control. Volume 12(2020)
• Publication Date: 2020-06
• Subjects: Non-minimum phase -- Uncertain systems -- Sliding modes -- Output feedback -- Trajectory tracking -- Global stability; Automatic control -- Periodicals; Relay control systems -- Periodicals; Embedded computer systems -- Periodicals; Feedback control systems -- Periodicals; Artificial intelligence -- Periodicals; Artificial intelligence; Automatic control; Embedded computer systems; Feedback control systems; Relay control systems; Electronic journals; Periodicals; 629.89
• DOI: 10.1016/j.ifacsc.2020.100089
• Languages: English
• ISSNs: 2468-6018

Abstract

Abstract: In this paper we combine the sliding mode control (SMC) strategy with monitoring functions and time-scaling to solve the problem of trajectory tracking for linear minimum or non-minimum phase systems. Unlike other publications which in general assume full/partial state availability, the complete knowledge of the non-minimum phase plant parameters, or just handle the stabilization/regulation problem, here we deal with the tracking objective by assuming the plant is subject parametric uncertainties and applying only output feedback. When using the time-scaling technique, we may expect that the tracking of the reference model occurs slowly, depending on the time-scaling parameter. This is the price to be paid for considering a more general framework of uncertainty. Global asymptotic stability with respect to compact sets is demonstrated for the closed-loop system, where the output tracking error ultimately achieves arbitrarily small residual sets. Simulation results illustrate the performance of our control algorithm.