A quasi-optimal sliding mode control scheme based on control Lyapunov function |
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| Authors: | Jian-Xin Xu |
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| Institution: | 1. System Control Research Section, National Research Center of Gas Turbine & IGCC Technology, Beijing 100084, China;2. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China;3. School of Automation, Guangdong University of Technology, Guangzhou 510006, China;1. College of Information Science and Engineering, Northeastern University, Box 134, Shenyang 110819, P.R. China;2. Key Laboratory of Integrated Automation of Process Industry (Northeastern University) of the National Education Ministry, Shenyang 110004, P.R. China;1. School of Automation, Northwestern Polytechnical University, Xi’an 710129, PR China;2. College of Information Science and Engineering, Northeastern University, Shenyang 110819, PR China;3. Key Laboratory of Integrated Automation for Process Industry, Northeastern University, Shenyang 110819, PR China |
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| Abstract: | In this paper, the sliding mode control (SMC) method is integrated with a nonlinear suboptimal control method based on control Lyapunov function (CLF). According to the system nominal part, a CLF is first constructed in general to facilitate the nonlinear optimal system design and Sontag's formula is used in particular to generate a suboptimal controller. To take system uncertainties into account, the SMC mechanism is designed based on the CLF. By integration, the suboptimal control and SMC are made to function in a complementary manner. When the system state is far away from the equilibrium and the system nominal part is predominant, the nonlinear optimal control part will govern the system response as well as drive the system state approach the equilibrium in an optimal fashion. On the contrary, when approaching the equilibrium such that system perturbations become the main factor, the SMC will take over the control task to warrant the desired robustness property and achieve precise control. |
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