Floquet, T. and Spurgeon, S.K. and Edwards, C. (2011) An Output Feedback Sliding Mode Control Strategy for MIMO Systems of Arbitrary Relative Degree. International Journal of Robust and Nonlinear Control, 21 (2). pp. 119-133. ISSN 1049-8923.
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This paper develops an output feedback sliding mode controller for multi-input multi-output (MIMO) systems of any relative degree. A minimal set of outputs and output derivatives are identified to determine an augmented system which is relative degree 1, and a robust sliding mode differentiator is presented as the means to construct the extended output signal. It is shown that the transmission zeroes of the original plant appear directly in the reduced order sliding mode dynamics relating to the augmented sytem. A super twisting control algorithm is shown to provide robust control performance. Simulation results for a rationalized helicopter model taken from the literature are used to demonstrate the attraction of the approach.
|Uncontrolled keywords:||Sliding mode control, Output feedback, Robust sliding mode differentiators|
|Subjects:||T Technology > TJ Mechanical engineering and machinery > Control engineering|
|Divisions:||Faculties > Science Technology and Medical Studies > School of Engineering and Digital Arts > Instrumentation, Control and Embedded Systems|
|Depositing User:||J. Harries|
|Date Deposited:||11 Mar 2011 12:01|
|Last Modified:||04 Oct 2012 14:35|
|Resource URI:||http://kar.kent.ac.uk/id/eprint/27471 (The current URI for this page, for reference purposes)|
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