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  • 标题:Robust Predictor-Based Control of Uncertain Linear Systems with Delay via Integral Sliding Mode Control * * This work was supported by CONACYT, Mexico, under grant 300959, 301068 and 252405.
  • 本地全文:下载
  • 作者:A.G. Loukianov ; H. Caballero-Barragán ; L. P Osuna-Ibarra
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2017
  • 卷号:50
  • 期号:1
  • 页码:9631-9636
  • DOI:10.1016/j.ifacol.2017.08.1717
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractIn this paper, a continuous control strategy for robust stabilization of a class of uncertain multivariable linear systems with delays in both the state and control variables is proposed. A predictor is designed to compensate the delay effect in control input, and then an integral sliding mode control technique along with super-twisting algorithm is applied to compensate partially the effect of the perturbation term. Finally, a nominal delay-free part of the control input is designed to stabilize the sliding mode dynamics. The method is extended to the class of systems modeled in Regular form, it is proposed a transformation for the systems with delay in state then results in a system delay-free in state. Conditions for the stability of the closed-loop uncertain system are derived. Simulation results are presented and compared against previous works.
  • 关键词:KeywordsSliding Mode ControlLinear SystemRobust ControlDelayPredictive Control
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