Disturbance/Uncertainty Estimator Based Integral Sliding-Mode Control

Kurkcu B., Kasnakoğlu C., Efe M. Ö.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, cilt.63, sa.11, ss.3940-3947, 2018 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 63 Sayı: 11
  • Basım Tarihi: 2018
  • Doi Numarası: 10.1109/tac.2018.2808440
  • Dergi Adı: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED)
  • Sayfa Sayıları: ss.3940-3947
  • Anahtar Kelimeler: Disturbance/uncertainty estimator (D/UE), gimbal control, integral sliding mode, robust stability (RS)/performance, MISMATCHED UNCERTAIN SYSTEMS, DISTURBANCE OBSERVER, SURFACE, DESIGN
  • Hacettepe Üniversitesi Adresli: Evet

Özet

A disturbance/uncertainty estimator based integral sliding-mode control approach is introduced. Explicit mathematical expressions for robust stability, performance, and bandwidth requirement are derived. The integral sliding-mode controller is built to satisfy certain industrial criteria. It is integrated into the robustness analysis via its quasi-linear representation. The proposed methodology is experimentally verified on a high-precision gimbal control application. It is seen that the estimator works well and significantly improves performance and robustness in the presence of disturbances and uncertainties.