Volume 13, Issue 2 (Journal of Control, V.13, N.2 Summer 2019)
JoC 2019, 13(2): 23-32 |
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Binazadeh T, Bahmani M. Robust Controller Design Based on Sliding Mode Observer in The Presence of Uncertainties and Actuator Saturation. JoC 2019; 13 (2) :23-32
URL: http://joc.kntu.ac.ir/article-1-510-en.html
URL: http://joc.kntu.ac.ir/article-1-510-en.html
1- Shiraz University of Technology,
Abstract: (6062 Views)
This paper studies the design of a robust output feedback controller subject to actuator saturation. For this purpose, a robust high-gain sliding mode observer is used to estimate the state variables. Moreover, the combination of Composite Nonlinear Feedback (CNF) and Integral Sliding Mode (ISM) controllers are used for robust output tracking. This controller consists of two parts, the CNF part which is taken into account to modify the transient responses and the ISM part which is implemented to reject the disturbances. The two important issues in this paper are: considering the actuator saturation and designing the robust observer-based control law. Moreover, a theorem is given and proved that guarantees even if the actuator saturation takes place, the closed-loop system is stable and the output asymptotically tracks the step reference input. Finally, in order to show the performance of the proposed controller, it is applied to the yaw control of a helicopter and the simulation results verify the theoretical results.
Keywords: Sliding mode observer, actuator saturation, robust controller, integral sliding mode, composite nonlinear feedback.
Type of Article: Research paper |
Subject:
Special
Received: 2017/08/3 | Accepted: 2018/07/7 | Published: 2019/10/2
Received: 2017/08/3 | Accepted: 2018/07/7 | Published: 2019/10/2
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