Decentralised sliding mode control for nonminimum phase nonlinear interconnected systems

Authors:	Spurgeon Sarah, University of Leicester, United Kingdom Yan Xinggang, University of Leicester, United Kingdom Edwards Christopher, University of Leicester, United Kingdom
Topic:	2.3 Non-Linear Control Systems
Session:	Sliding Mode Control II
Keywords:	nonlinear interconnected systems, sliding modes, nonminimum phase

Abstract

A class of interconnected systems with nonlinear interconnectionsand nonlinear disturbances is considered. A continuous nonlinearreduced-order compensator is established by exploiting thestructure of the uncertainties. A sliding surface is proposed inan augmented space formed by the system output and the compensatorvariables, and the stability of the corresponding sliding mode isanalysed. Then, a robust decentralised dynamical output feedbacksliding mode controller is designed to drive the system to thecomposite sliding surface and maintain a sliding motion on itthereafter.