| Title |
A Sliding Surface Part 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.2024.61.2.103 |
| Keywords |
Static output feedback; Variable structure system; Sliding mode control; Boundary layer function; Sliding surface prat transformation VSS |
| Abstract |
In this paper, we present a novel integral static output feedback sliding mode controller that incorporates a sliding surface part transformation and an output-dependent integral-augmented sliding surface. This controller is designed to enhance the robustness of an uncertain system, specifically addressing unmatched system matrix uncertainty, matched input matrix uncertainty, and disturbances, subject to certain conditions. This approach differs from the one in reference [39], while achieving the same performance and sliding surface part transformations. To address reaching phase issues effectively, we introduce an output-dependent integral-augmented sliding surface, and derive its equivalent control and ideal sliding mode dynamics. Our systematic design overcomes previous limitations. We establish a discontinuous stabilizing control with closed-loop exponential stability, applicable to unmatched system matrix uncertainties, along with the associated sliding mode existence conditions. Furthermore, we implement a continuous Sliding Mode Control (SMC) approach utilizing a modified boundary layer function and analyze its closed-loop bounded stability. To demonstrate the utility of our algorithm, we provide a design example and present results from computer simulations |