A Special Kind of Sliding Mode Control for Nonlinear System With State Constraints

被引：6
|
作者：
Chen, Zhi [1 ]
Tu, Xiaowei [1 ]
Xing, Li [1 ]
Fu, Jian [2 ]
Lozano, Rogelio [3 ]
机构：
[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200072, Peoples R China
[2] Nanjing Univ Sci & Technol, Coll Energy & Power Engn, Nanjing 210094, Jiangsu, Peoples R China
[3] UTC CNRS UMR 7253 Heudiasyc, F-60200 Compiegne, France
来源：
IEEE ACCESS | 2019年 / 7卷
基金：
上海市自然科学基金; 中国博士后科学基金;
关键词：
Nonlinear system; positive invariant set (PIS); auxiliary surfaces (AS); sliding mode control (SMC); state constraints; VARIABLE-STRUCTURE; INVARIANT SET; AIRCRAFT;
D O I：
10.1109/ACCESS.2019.2918786
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 paper presents a control strategy named auxiliary surfaces sliding mode control (AS-SMC) by using Positive Invariant Set (PIS) to control a class of continuous nonlinear systems with state constraints. The PIS can be regarded as a special kind of sliding surface, and its invariance ensures that the system state can satisfy the constraints in the convergence process. The stability analysis and a PIS theory proof are given. The control strategy is successfully tested in numerical simulations and even effectively applied to the coaxial unmanned helicopter flight control system on hardware in the loop (HIL) platform. The results verify the effectiveness of the proposed control strategy for the experimental set-up.
引用
收藏
页码：69998 / 70010
页数：13
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