Output Feedback Controller Design for a Class of MIMO Nonlinear Systems Using High-Order Sliding-Mode Differentiators With Application to a Laboratory 3-D Crane
Download (1.13 MB)
-
Altmetric Citations
Description
This paper addresses the problem of output feedback control design for a class of multi-input-multi-output (MIMO) nonlinear systems where the number of inputs is less than that of outputs. There are two difficulties in this design problem: 1) too few control inputs will not generally allow independent control over all outputs and 2) the state of the system is not available for measurements, and only the outputs are available through measurements. To address the first issue, a practical output...[Show more]
dc.contributor.author | Chen, Weitian | |
---|---|---|
dc.contributor.author | Saif, Mehrdad | |
dc.date.accessioned | 2015-12-08T22:30:27Z | |
dc.identifier.issn | 0278-0046 | |
dc.identifier.uri | http://hdl.handle.net/1885/34452 | |
dc.description.abstract | This paper addresses the problem of output feedback control design for a class of multi-input-multi-output (MIMO) nonlinear systems where the number of inputs is less than that of outputs. There are two difficulties in this design problem: 1) too few control inputs will not generally allow independent control over all outputs and 2) the state of the system is not available for measurements, and only the outputs are available through measurements. To address the first issue, a practical output feedback control problem is formulated, aiming to regulate only part of the outputs, and a controller structure with two design components in all or some chosen control inputs is proposed. To cope with the second difficulty, the recently developed high-order sliding mode differentiators (HOSMDs) are used to estimate the derivatives of the outputs needed in the controller design. With the derivatives estimated using HOSMDs, an output feedback controller is designed using the backstepping approach. Stability results are established for the designed controller under certain conditions. In order to test the applicability of the proposed output feedback controller in practical industrial problems, experiments are carried out though implementing the controller on a laboratory-scale 3-D crane. The experimental results are presented and reveal the advantage of the proposed controller structure, as well as the effect of controller gain and sampling periods. | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE Inc) | |
dc.source | IEEE Transactions on Industrial Electronics | |
dc.subject | Keywords: Cranes; Design; Feedback; Feedback control; MIM devices; Multiplexing; Nonlinear control systems; Nonlinear systems; Sliding mode control; Backstepping; Backstepping approaches; Control inputs; Controller designs; Controller gains; Controller structures; Backstepping; High-order sliding mode; Nonlinear systems; Output feedback control | |
dc.title | Output Feedback Controller Design for a Class of MIMO Nonlinear Systems Using High-Order Sliding-Mode Differentiators With Application to a Laboratory 3-D Crane | |
dc.type | Journal article | |
local.description.notes | Imported from ARIES | |
local.identifier.citationvolume | 55 | |
dc.date.issued | 2008 | |
local.identifier.absfor | 090604 - Microelectronics and Integrated Circuits | |
local.identifier.ariespublication | u4334215xPUB113 | |
local.type.status | Published Version | |
local.contributor.affiliation | Chen, Weitian, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Saif, Mehrdad, Simon Fraser University | |
local.description.embargo | 2037-12-31 | |
local.bibliographicCitation.issue | 11 | |
local.bibliographicCitation.startpage | 3985 | |
local.bibliographicCitation.lastpage | 3997 | |
local.identifier.doi | 10.1109/TIE.2008.2004384 | |
dc.date.updated | 2016-02-24T10:57:33Z | |
local.identifier.scopusID | 2-s2.0-56349165790 | |
Collections | ANU Research Publications |
Download
File | Description | Size | Format | Image |
---|---|---|---|---|
01_Chen_Output_Feedback_Controller_2008.pdf | 1.13 MB | Adobe PDF |
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.
Updated: 17 November 2022/ Responsible Officer: University Librarian/ Page Contact: Library Systems & Web Coordinator