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Nonlinear Gains Recursive Sliding Mode Dynamic Surface Control with Integral Action
Author(s) -
Liu Xi,
Sun Xiuxia,
Liu Shuguang,
Xu Song
Publication year - 2015
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.963
Subject(s) - control theory (sociology) , nonlinear system , tracking error , transient (computer programming) , filter (signal processing) , sliding mode control , constant (computer programming) , stability (learning theory) , action (physics) , reduction (mathematics) , surface (topology) , function (biology) , signal (programming language) , tracking (education) , computer science , mode (computer interface) , mathematics , control (management) , physics , psychology , pedagogy , geometry , quantum mechanics , artificial intelligence , machine learning , evolutionary biology , computer vision , biology , programming language , operating system
In this paper, by introducing a function with nonlinear gains and developing sliding surfaces with integral action in the dynamic surface control (DSC) recursive procedure, a novel DSC strategy is proposed. The drawbacks of conventional DSC methods, such as being sensitive to the design constant of the first order low‐pass filter and being unable to achieve zero steady‐state error for step reference signal, are overcome. Moreover, improvement of transient performance and reduction of control effort can be obtained. The stability analysis shows that the proposed new approach can guarantee semi‐global uniform ultimate boundedness (SGUUB) of all closed‐loop signals and that the ultimate tracking error bound in regulation can be made arbitrarily small.