Model-free sliding mode control of nonlinear systems: Algorithms and experiments

• Published in: Information sciences Vol. 381; pp. 176 - 192
• Main Authors: Precup, Radu-Emil, Radac, Mircea-Bogdan, Roman, Raul-Cristian, Petriu, Emil M.
• Format: Journal Article
• Language: English
• Published: Elsevier Inc 01.03.2017
• Subjects: Azimuth; Channels; Control systems; Design engineering; Dynamical systems; Model-free iPI control system structure; Model-free sliding mode control system structure; Pitch (inclination); Real-time experiments; Rotor aerodynamics; Sliding mode control; Twin rotor aerodynamic system; Model-free iPI control system structure; Real-time experiments; Model-free sliding mode control system structure; Twin rotor aerodynamic system
• ISSN: 0020-0255; 1872-6291
• DOI: 10.1016/j.ins.2016.11.026

•Two model-free sliding mode control system (MFSMCS) structures are proposed.•The sliding mode control of the tracking error dynamics is carried out.•The design approaches specific to MFSMCS structures are model-free in tuning.•Lyapunov's stability theory is employed in the design approaches.•The experimental validation on a twin rotor aerodynamic system is included. This paper proposes two model-free sliding mode control system (MFSMCS) structures. The new structures are compared with a model-free intelligent proportional-integral (iPI) control system structure. Two simple design approaches for the MFSMCS structures are suggested. The control system structures and the design approaches are validated by a set of real-time experimental results on a nonlinear laboratory twin rotor aerodynamic system (TRAS). The MFSMCS structures are considered in the framework of a Multi Input-Multi Output TRAS control system, where the azimuth and pitch positions are controlled using separate Single Input-Single Output control system structures for each control channel (azimuth and pitch). The experimental validation is carried out by two scenarios that illustrate and allow the assessment of the MFSMCS structures performance and the comparison versus a model-free iPI control system structure as well. [Display omitted]