Adaptive sliding mode control for persistent dwell-time switched nonlinear systems with matched/mismatched uncertainties and its application |
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| Institution: | 1. AnHui Province Key Laboratory of Special Heavy Load Robot and School of Electrical and Information Engineering, Anhui University of Technology, Ma’anshan 243002, PR China;2. School of Automation and Electrical Engineering, Linyi University, Linyi 276005, PR China;3. School of Information Science and Engineering, Chengdu University, Chengdu 610106, PR China;1. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China;2. School of Automation Science and Engineering, South China University of Technology, Guangzhou 510641, China;3. Mechanical and Aerospace Engineering Department, North Carolina State University, Raleigh 27695-7910, USA;1. Institute for Problems of Mechanical Engineering of the Russian Academy of Sciences, 61 Bolshoy Prospekt V.O., St. Petersburg 199178, Russia;2. Gubkin University, 65 Leninsky Prospekt, Moscow 119991, Russia;1. Department of Electrical and Computer Engineering, University of Alberta, Edmonton T6G 2W3, Canada;2. Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran;1. Department of Electrical Engineering, University of Technology of Paraná – UTFPR Cornélio Procópio 86300-000, PR, Brazil;2. Federal Institute of São Paulo – IFSP, Campus Avaré, Avaré 18707-150, SP, Brazil;1. University Key Laboratory of Intelligent Perception and Computing of Anhui Province, Anqing Normal University, Anqing 246001, China;2. School of Mechanical Engineering, Hunan University of Science & Technology, Xiangtan 411201, China;3. College of Mathematics and Big Data, Anhui University of Science & Technology, Huainan 232001, China;4. National Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou 310027, China;1. AnHui Province Key Laboratory of Special Heavy Load Robot, Anhui University of Technology, Ma’anshan 243002, PR China;2. School of Automation and Electrical Engineering, Linyi University, Linyi 276005, PR China;3. School of Information Science and Engineering, Chengdu University, Chengdu 610106, PR China |
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| Abstract: | In this paper, the adaptive sliding mode control issue for switched nonlinear systems with matched and mismatched uncertainties is addressed, where the persistent dwell-time switching rule is introduced to describe the switching of parameters. Besides, considering the case that the upper bound of the matched uncertainty is unknown, the purpose of this paper is to utilize an adaptive control method to estimate its upper bound parameters. To begin with, a linear sliding surface is constructed, and then the reduced-order sliding mode dynamics can be obtained through a reduced-order method. Next, sufficient conditions can be derived based on the Lyapunov stability and the persistent dwell-time switching analysis techniques ensuring that the reduced-order sliding mode dynamics is globally uniformly exponentially stable. Moreover, a switched adaptive sliding mode control law is designed, which can not only ensure the reachability of the sliding surface but also estimate the upper bound parameters of the matched uncertainty. Finally, a numerical example and a circuit model are introduced to verify the effectiveness of the proposed method. |
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