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Sliding-Mode Control for Perturbed MIMO Systems With Time-Synchronized Convergence | IEEE Journals & Magazine | IEEE Xplore

Sliding-Mode Control for Perturbed MIMO Systems With Time-Synchronized Convergence


Abstract:

This article introduces a novel approach called terminal sliding-mode control for achieving time-synchronized convergence in multi-input–multi-output (MIMO) systems under...Show More

Abstract:

This article introduces a novel approach called terminal sliding-mode control for achieving time-synchronized convergence in multi-input–multi-output (MIMO) systems under disturbances. To enhance controller design, the systems are categorized into two groups: 1) input-dimension-dominant and 2) state-dimension-dominant, based on signal dimensions and their potential for achieving thorough time-synchronized convergence. We explore sufficient Lyapunov conditions using terminal sliding-mode designs and develop adaptive controllers for the input-dimension-dominant case. To handle perturbations, we design a multivariable disturbance observer with a super-twisting structure, which is integrated into the controller. By utilizing the sliding-mode technique and the disturbance observer, the proposed controller ensures simultaneous convergence of all output dimensions. In the state-dimension-dominant case, where a full-rank system matrix is absent, only specific output elements converge to equilibrium simultaneously. We conduct comparative simulations on a practical system to highlight the effectiveness of our proposed method for the input-dimension-dominant case. Statistical results reveal the benefits of shorter output trajectories and reduced energy consumption. For the state-dimension-dominant case, we present numerical examples to validate the semi-time-synchronized property.
Published in: IEEE Transactions on Cybernetics ( Volume: 54, Issue: 8, August 2024)
Page(s): 4375 - 4388
Date of Publication: 30 November 2023

ISSN Information:

PubMed ID: 38032782

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