| Title |
A Control Input Transformation Static Output Feedback Integral SMC for Uncertain Systems with Unmatched System Matrix Uncertainty |
| Authors |
최명수(Myeong-Soo Choi) ; 이정훈(Jung-Hoon Lee) |
| DOI |
https://doi.org/10.5573/ieie.2022.59.1.63 |
| Keywords |
Static output feedback; Variable structure system; Sliding mode control; Boundary layer function; Control input transformation VSS |
| Abstract |
In this paper, a control input transformed integral static output feedback sliding mode controller with an integral-augmented sliding surface is designed for the improved robust output feedback control of a uncertain system under unmatched system matrix uncertainty, matched input matrix uncertainty, and disturbance satisfying some conditions as the alternative approach of [31] which is the sliding surface transformation research. The approach of the proposed algorithm is different from that of [31] with the same performance and up-graded without the calculation of the initial condition of the integral state. To effectively remove the reaching phase problems, an output dependent integral augmented sliding surface is proposed and up-graded. Its equivalent control and ideal sliding mode dynamics are obtained. The previous some limitations are overcome in this systematic design. A discontinuous stabilizing control with the closed loop exponential stability is designed for all unmatched system matrix uncertainties and proved together with the existence condition of the sliding mode on . A continuous SMC is implemented by means of the modified boundary layer function and its closed loop bounded stability is analyzed which means the upgrade from [31] in which the saturation function is used and its stability analysis is difficult. To show the usefulness of the algorithm a design example and computer simulations are presented. |