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Disturbance observer–based adaptive boundary layer sliding mode controller for a type of nonlinear multiple‐input multiple‐output system
Author(s) -
Gandikota Gurumurthy,
Das Dushmanta Kumar
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4701
Subject(s) - control theory (sociology) , nonlinear system , mimo , sliding mode control , controller (irrigation) , lyapunov stability , observer (physics) , computer science , lyapunov function , disturbance (geology) , control (management) , physics , artificial intelligence , computer network , channel (broadcasting) , paleontology , quantum mechanics , agronomy , biology
Summary In this paper, a disturbance observer–based adaptive boundary layer sliding mode controller (ABLSMC) is proposed to compensate external disturbance and system uncertainty for a class of output coupled multiple‐input multiple‐output (MIMO) nonlinear systems. To show the effectiveness of the proposed ABLMSC, a traditional adaptive sliding mode controller (ASMC) is also designed. The stability of the closed‐loop system is examined by using the Lyapunov stability approach. The proposed control approach is implemented for a class of nonlinear output coupled MIMO systems. For real‐time validation, a coupled tank system is considered for study. Finally, simulation and real‐time results show that the proposed ABLMSC gives better performance such as reduced chattering and energy efficiency than that of the ASMC and some reported works in the literature.