Title: Sliding mode plus U-control method for continuous time SISO dynamic systems

Authors: Zhengrong Wei; Ruobing Li; Quanmin Zhu

Addresses: Department of Engineering Design and Mathematics, University of the West of England, Bristol, England, UK ' Department of Engineering Design and Mathematics, University of the West of England, Bristol, England, UK ' Department of Engineering Design and Mathematics, University of the West of England, Bristol, England, UK

Abstract: This paper proposes a new sliding mode augmented U-model-based control method (U_SM-control) for controlling a class of Single-Input Single-Output (SISO) dynamic systems with internal uncertain parameters and external system noise/disturbance. To implement this idea, this study firstly introduces the U-model definition, establishes the corresponding U_SM-control-based system design framework, and explains its design procedure step by step. Then this study selects a simplified nonlinear helicopter model for simulation case studies, using Matlab/Simulink to test and demonstrate the proposed U_SM-control method in terms of tracking ability, and finally discusses the comparison results generated from U_SM-control and U-control approaches to test the stability and robustness of proposed control method in this study.

Keywords: U-model; U-model-based control; sliding mode control; U_SM-control; simulation demonstrations.

DOI: 10.1504/IJCCPS.2021.113102

International Journal of Cybernetics and Cyber-Physical Systems, 2021 Vol.1 No.1, pp.68 - 92

Received: 04 Aug 2020
Accepted: 28 Aug 2020
Published online: 18 Feb 2021 *