Sliding mode control design using generalized relative degree approach: Aerospace application |
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| Institution: | 1. Department of Electrical Engineering, University of Alabama, Huntsville, AL, USA;2. Nantes Universite, Ecole Centrale Nantes, CNRS, LS2N UNR 6004, F-44000, Nantes, France;1. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, China;2. Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province, University of Electronic and Technology of China, Chengdu 611731, China;3. Department of Computer Science and Technology, Faculty of Science and Engineering, University of Hull, HU6 7RX, UK;1. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | Relative degree (RD) approach is a powerful tool for obtaining system's input-output dynamics used for output tracking controller designs of minimum phase systems. Designs using the RD alone can fail due both to insufficient control authority in minimum phase systems, and instability of internal/zero dynamics attributed to nonminimum phase systems. A novel definition and a concept of Practical Generalized RD (PGRD) are proposed in this paper and are used in concert with Sliding Mode Control (SMC) to compensate for system perturbations in minimum phase systems. The use of known Generalized Relative Degree (GRD) in nonminimum phase systems allows for the elimination of internal dynamics. However, instability that emerges in the corresponding control dynamic extension is defeating any output tracking controller design. A novel methodology of using GRD for designing continuous SMC in nonminimum phase systems is presented. An algorithm for generating a bounded solution of the unstable dynamic extension is proposed and used in concert with SMC, allowing robust control design for nonminimum phase systems. The efficacy of the proposed GRD-based approaches is demonstrated on a minimum and nonminimum phase rocket attitude control problem both analytically and via simulation. |
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