Saad Wajdi, Sellami Anis, Garcia Germain
LISIER, National High School of Engineers of Tunis ENSIT, University of Tunis, 5 Av. Taha Hussein, Tunis, Tunisia.
Research Laboratory LAAS-CNRS, University of Toulouse, Av. Colonel Roche F-31400, Toulouse, France.
ISA Trans. 2019 Jul;90:19-29. doi: 10.1016/j.isatra.2018.12.040. Epub 2019 Jan 25.
This paper is concerned with the control problem for different types of one-sided Lipschitz (OSL) nonlinear systems subject to input nonlinearities, unmatched polytopic uncertainties and external perturbations. The design framework gathers the high robustness qualities of the sliding mode control (SMC) and the H technique. The aims is to consider the bounded L disturbance attenuation measure in the analysis of sliding mode dynamics, thus to ameliorate the performance of the SMC system. An integral switching surface function is chosen and related synthesis conditions for the sliding mode dynamics are formulated in terms of linear matrix inequalities (LMIs). Then, an appropriate control law is synthesized such that reachability of the switching manifold is ensured. At last, simulation examples are provided to prove the feasibility of the proposed approach.
本文关注的是受输入非线性、不匹配多面体不确定性和外部扰动影响的不同类型单边Lipschitz（OSL）非线性系统的控制问题。该设计框架融合了滑模控制（SMC）的高鲁棒性和H技术。目的是在滑模动力学分析中考虑有界L干扰抑制措施，从而改善SMC系统的性能。选择了一个积分切换面函数，并根据线性矩阵不等式（LMI）制定了滑模动力学的相关综合条件。然后，合成了一个合适的控制律，以确保切换流形的可达性。最后，提供了仿真例子来证明所提方法的可行性。
