Comparative Analysis of Optimized Output Regulation of A SISO Nonlinear System Using Different Sliding Manifolds

• Published in: International journal of automation and computing Vol. 14; no. 4; pp. 450 - 462
• Main Authors: Sunila, M. S., Sankaranarayanan, V., Sundareswaran, K.
• Format: Journal Article
• Language: English
• Published: Beijing Institute of Automation, Chinese Academy of Sciences 01.08.2017; Springer Nature B.V
• Subjects: Automation; CAE) and Design; Comparative analysis; Computer Applications; Computer-Aided Engineering (CAD; Control; Control systems design; Controllers; Design; Engineering; Mechatronics; Methods; Nonlinear systems; Optimization techniques; Particle swarm optimization; Proportional integral derivative; Research Article; Robotics; Robust control; Robustness (mathematics); SISO (control systems); Sliding mode control; System effectiveness; 单输入; 单输出; 输出调节; 非线性系统; relative degree; nonlinear system; Higher order sliding mode; probabilistic particle swarm optimization; sliding manifolds
• ISSN: 1476-8186; 2153-182X; 1751-8520; 2153-1838
• DOI: 10.1007/s11633-017-1078-7

This paper presents the design of sliding mode controller for the output regulation of single input single output （SISO） nonlinear systems. The sliding surfaces are designed to force the error dynamics to follow proportional （P）, proportional integral （PI） and proportional integral derivative （PID） dynamics. The controller parameters are obtained using probabilistic particle swarm optimization technique. A judicious selection of various sliding surfaces based on the relative degree of the systems is also elaborated. A detailed comparison of the output regulation for various systems with different relative degree is presented. Numerical simulation shows the effectiveness of the proposed method and robustness of the sliding mode controller.