HOSM controller design with an output constraint and its application

This work has developed an approach to a high-order sliding mode (HOSM) controller design for nonlinear systems subject to output constraints. To handle the output constraints, a barrier Lyapunov function (BLF) has been adopted. By inserting the BLF into the revamped adding a power integrator (API)...

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Published inISA transactions Vol. 116; pp. 71 - 80
Main Authors Mei, Keqi, Ding, Shihong
Format Journal Article
LanguageEnglish
Published United States Elsevier Ltd 01.10.2021
Subjects
Barrier Lyapunov function
Finite-time stability
High-order sliding mode
Output constraint
Barrier Lyapunov function
Finite-time stability
Output constraint
High-order sliding mode
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Abstract This work has developed an approach to a high-order sliding mode (HOSM) controller design for nonlinear systems subject to output constraints. To handle the output constraints, a barrier Lyapunov function (BLF) has been adopted. By inserting the BLF into the revamped adding a power integrator (API) technique, a HOSM controller, which can handle the closed-loop sliding mode dynamics synchronously with and without output constraints, is constructively framed. The strictly mathematical proof shows that the presented strategy can assure the finite-time stability of the closed-loop system and the achievement of a pre-set output constraint. The differences between the proposed HOSM controller and the traditional HOSM controller are discussed via a numerical example. Finally, the theoretical results obtained are successfully applied to a series elastic actuator system. The simulation results clearly confirm the merit of the presented HOSM algorithm. •By implanting BLF into API technique, a HOSM controller design scheme is developed.•The strategy can handle the HOSM dynamics with and without output constraints.•The HOSM controller ensures the system finite-time stability with output constraints.
AbstractList This work has developed an approach to a high-order sliding mode (HOSM) controller design for nonlinear systems subject to output constraints. To handle the output constraints, a barrier Lyapunov function (BLF) has been adopted. By inserting the BLF into the revamped adding a power integrator (API) technique, a HOSM controller, which can handle the closed-loop sliding mode dynamics synchronously with and without output constraints, is constructively framed. The strictly mathematical proof shows that the presented strategy can assure the finite-time stability of the closed-loop system and the achievement of a pre-set output constraint. The differences between the proposed HOSM controller and the traditional HOSM controller are discussed via a numerical example. Finally, the theoretical results obtained are successfully applied to a series elastic actuator system. The simulation results clearly confirm the merit of the presented HOSM algorithm.
This work has developed an approach to a high-order sliding mode (HOSM) controller design for nonlinear systems subject to output constraints. To handle the output constraints, a barrier Lyapunov function (BLF) has been adopted. By inserting the BLF into the revamped adding a power integrator (API) technique, a HOSM controller, which can handle the closed-loop sliding mode dynamics synchronously with and without output constraints, is constructively framed. The strictly mathematical proof shows that the presented strategy can assure the finite-time stability of the closed-loop system and the achievement of a pre-set output constraint. The differences between the proposed HOSM controller and the traditional HOSM controller are discussed via a numerical example. Finally, the theoretical results obtained are successfully applied to a series elastic actuator system. The simulation results clearly confirm the merit of the presented HOSM algorithm. •By implanting BLF into API technique, a HOSM controller design scheme is developed.•The strategy can handle the HOSM dynamics with and without output constraints.•The HOSM controller ensures the system finite-time stability with output constraints.
Author Ding, Shihong
Mei, Keqi
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Keywords Barrier Lyapunov function
Finite-time stability
Output constraint
High-order sliding mode
Language English
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Snippet This work has developed an approach to a high-order sliding mode (HOSM) controller design for nonlinear systems subject to output constraints. To handle the...
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StartPage 71
SubjectTerms Barrier Lyapunov function
Finite-time stability
High-order sliding mode
Output constraint
Title HOSM controller design with an output constraint and its application
URI https://dx.doi.org/10.1016/j.isatra.2021.01.044
https://www.ncbi.nlm.nih.gov/pubmed/33549303
https://search.proquest.com/docview/2487428020
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