Hyper Sliding Mode Control: A Novel Approach Achieving Robustness With Model Order Uncertainty

Dodds, Stephen J. (2006) ‘Hyper Sliding Mode Control: A Novel Approach Achieving Robustness With Model Order Uncertainty’,

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Abstract

A novel approach to the control of plants with model order uncertainty as well as parametric errors and external disturbances is presented, which yields a specified closed loop dynamic response. Its foundations lie in sliding mode control, but the set of output derivatives fed back extend to a maximum order of rmax −1, where rmax is the maximum likely rank of the plant. In conventional sliding mode control, the number of output derivatives fed back is a set of state variables equal in number to r −1, where r is the rank of the plant and derivatives of higher order than r −1, which are not state variables, are not fed back, meaning that the plant order must be known in advance. In hyper sliding mode control, originated by the author, although the output derivatives of higher order than r are not plant state variables, they become state variables of the closed-loop system and take part in the sliding mode. Thus, in cases where the maximum order of the output derivative exceeds r −1, the order of the closed-loop system is greater than that of the plant, which is a small price to pay for retaining the extreme robustness properties of sliding mode control. The method is illustrated by means of simulations of a motion control system employing a permanent magnet synchronous motor. An initial evaluation of the method is made by considering three plants with different orders and ranks, the first being the unloaded drive, the second being the drive controlling the motor rotor angle with a mass-spring load attached and the third being the drive controlling the load mass angle of the same attached mass-spring load. The simulations indicate that the control system does indeed yield robustness including plant order uncertainty.

Item Type: Conference or Event Item (Paper)
Additional Information: Citation: Dodds, S.J. (2006) ‘Hyper Sliding Mode Control: A Novel Approach Achieving Robustness With Model Order Uncertainty’ Proceedings of the AC&T, pp.142-148.
Divisions: Schools > Architecture Computing and Engineering, School of
Depositing User: Mr Stephen Grace
Date Deposited: 11 Jun 2010 15:44
Last Modified: 27 Sep 2012 11:59
URI: http://hdl.handle.net/10552/801

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