Integral sliding mode control of an extended Heisenberg system

被引：25
|
作者：
Defoort, M. [1 ]
Floquet, T. [2 ]
Perruquetti, W. [2 ]
Drakunov, S. V. [3 ]
机构：
[1] Ecole Mines Douai, F-59508 Douai, France
[2] CNRS, Ecole Cent Lille, LAGIS, UMR 8146, F-59651 Villeneuve Dascq, France
[3] Embry Riddle Aeronaut Univ, Dept Phys Sci, Daytona Beach, FL 32114 USA
来源：
IET CONTROL THEORY AND APPLICATIONS | 2009年 / 3卷 / 10期
关键词：
MOBILE ROBOTS; EXPONENTIAL STABILIZATION; TRACKING CONTROL; DESIGN;
D O I：
10.1049/iet-cta.2007.0480
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This study deals with the practical robust stabilisation and tracking problems of the perturbed multidimensional Heisenberg system with some additional integrators in the control input path. This objective is achieved by the use of variable structure control laws with an integral augmented sliding variable. This note shows how to select the integral sliding surface in such a way that the practical stabilisation of the extended Heisenberg system is achieved in spite of the uncertainties and without loss of controllability. Experimental results on a wheeled mobile robot show the performance of the proposed controller for the practical stabilisation and tracking problems.
引用
收藏
页码：1409 / 1424
页数：16
相关论文
共 50 条
  • [1] Dynamic Integral Sliding Mode Control of an Electromechanical System
    Sinekli, Ebru Senyigit
    Coban, Ramazan
    2017 INTERNATIONAL CONFERENCE ON MECHANICAL, SYSTEM AND CONTROL ENGINEERING (ICMSC), 2017, : 160 - 164
  • [2] Extended State Observer Based Integral Sliding Mode Control for Maglev System With Fixed Time Convergence
    Sharma, Atul
    Alturki, Abdulrahman
    Amrr, Syed Muhammad
    IEEE ACCESS, 2022, 10 : 93074 - 93083
  • [3] Discussions on Smooth Modifications of Integral Sliding Mode Control
    Pan, Yongping
    Joo, Young Hoon
    Yu, Haoyong
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2018, 16 (02) : 586 - 593
  • [4] Robust Boundary Control of a Diffusion System: An Integral Sliding Mode Control Approach
    Koch, Stefan
    Seeber, Richard
    Horn, Martin
    2020 59TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2020, : 3975 - 3980
  • [5] Generalized Extended State Observer Based Integral Sliding Mode Control for a Nuclear Reactor System with Mismatched Uncertainties
    Surjagade, Piyush V.
    Shimjith, S. R.
    Tiwari, A. P.
    IFAC PAPERSONLINE, 2020, 53 (01): : 33 - 38
  • [6] Integral Sliding Mode and Integral Supertwisting Sliding Mode Control for Ship Course-Keeping
    Butt, Muhammad Munir
    Butt, Azhar Iqbal Kashif
    Ahmad, Iftikhar
    IEEE ACCESS, 2025, 13 : 9006 - 9014
  • [7] Accurate motion control of a servopneumatic system using integral sliding mode control
    Falcao Carneiro, J.
    Gomes de Almeida, F.
    INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2015, 77 (9-12) : 1533 - 1548
  • [8] IMPROVED INTEGRAL SLIDING MODE CONTROL METHODS FOR SPEED CONTROL OF PMSM SYSTEM
    Xia, Cunjian
    Wang, Xiaocui
    Li, Shihua
    Chen, Xisong
    INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2011, 7 (04): : 1971 - 1982
  • [9] Integral sliding mode control for an anthropomorphic finger based on nonlinear extended state observer
    Zhao, Ling
    Peng, Meiqin
    Li, Zhuojun
    He, Minghui
    ISA TRANSACTIONS, 2024, 153 : 433 - 442
  • [10] Integral sliding mode antisway control of an underactuated overhead crane system
    Defoort, M.
    Maneeratanaporn, J.
    Murakami, T.
    MECATRONICS REM 2012, 2012, : 71 - 77
12345