Complete model-free sliding mode control (CMFSMC)

Zhu, Quanmin

Abstract

This study presents a complete model-free sliding mode control (CMFSMC) framework for the control of continuous-time non-affine nonlinear dynamic systems with unknown models. The novelty lies in the introduction of two equalities to assign the derivative of the sliding functions, which generally bridges the designs of those model-based SMC and model-free SMC. The study includes a double SMC (DSMC) design, state observer design, and desired reference state vector design (whole system performance), which all do not require plant nominal models. The preconditions required in the CMFSMC are the plant dynamic order and the boundedness of plant and disturbances. U-model based control (U-control) is incorporated to configure the whole control system, that is (1) taking model-free double SMC as a robust dynamic inverter to cancel simultaneously both nonlinearity and dynamics of the underlying plants, (2) taking a model-free state observer to estimate the state vector, (3) taking invariant controller to specify the whole control system performance in a linear output feedback control and to provide desired reference state vector. The related properties are studied to support the concept/configuration development and the analytical formulations. Simulated case studies demonstrate the developed framework and show off the transparent design procedure for applications and expansions.

Citation

Zhu, Q. (2021). Complete model-free sliding mode control (CMFSMC). Scientific Reports, 11(1), Article 22565. https://doi.org/10.1038/s41598-021-01871-6

• Journal Article Type: Article
• Acceptance Date: Nov 3, 2021
• Online Publication Date: Nov 19, 2021
• Publication Date: Nov 19, 2021
• Deposit Date: Nov 21, 2021
• Publicly Available Date: Nov 23, 2021
• Journal: Scientific Reports
• Electronic ISSN: 2045-2322
• Publisher: Nature Research (part of Springer Nature)
• Peer Reviewed: Peer Reviewed
• Volume: 11
• Issue: 1
• Article Number: 22565
• DOI: https://doi.org/10.1038/s41598-021-01871-6
• Keywords: Model-free SMC; model-free state observer; dynamic and nonlineariry inversion; U-model based control; U-control; simulation demonstrations
• Public URL: https://uwe-repository.worktribe.com/output/8046062