| Title |
A Sliding Surface Transformation DOF Variable Structure Controller for Uncertain Systems with Unmatched System Matrix Uncertainty |
| DOI |
https://doi.org/10.5573/ieie.2024.61.5.59 |
| Keywords |
Dynamic output feedback; Variable structure system; Sliding mode control; Boundary layer function; Sliding surface transformation VSS |
| Abstract |
In this paper, a Variable Structure Dynamic Output Feedback (DOF) Sliding Surface Transformation Controller is introduced to achieve improved robust control of an uncertain system amidst unmatched system uncertainty, matched input matrix uncertainty, and disturbances, subject to specific conditions. The approach builds upon the findings of the Static Output Feedback VSS outlined in references [9] and [31], and be different from [21]. To address the reaching phase problems effectively, an initial condition for the dynamic compensator is determined, which means that the initial value problem is solved. This systematic design overcomes previous limitations associated with the DOF variable structure controllers. The proposed stabilizing control is developed to induce the sliding mode on the predetermined DOF transformed sliding surface, leading to closed-loop exponential stability. This stability is established and proven, along with the existence conditions for the sliding mode across unmatched system matrix uncertainties satisfying the assumption A3. To demonstrate the practical applicability of the algorithm, a design example and corresponding computer simulations are presented. |