Output feedback controller design for a class of MIMO nonlinear systems using high-order sliding-mode differentiators with application to a laboratory 3-D crane

IEEE Transactions on Industrial Electronics

Volumn 55, Issue 11, 2008, Pages 3985-3997

  Chen, Weitian ^a,b   Saif, Mehrdad ^a  

^a SIMON FRASER UNIVERSITY   (Canada)

^b AUSTRALIAN NATIONAL UNIVERSITY   (Australia)

Author keywords

Backstepping; High order sliding mode; Nonlinear systems; Output feedback control

Indexed keywords

CRANES; DESIGN; FEEDBACK; FEEDBACK CONTROL; MIM DEVICES; MULTIPLEXING; NONLINEAR CONTROL SYSTEMS; NONLINEAR SYSTEMS; SLIDING MODE CONTROL;

BACKSTEPPING; BACKSTEPPING APPROACHES; CONTROL INPUTS; CONTROLLER DESIGNS; CONTROLLER GAINS; CONTROLLER STRUCTURES; DESIGN COMPONENTS; DESIGN PROBLEMS; HIGH-ORDER SLIDING MODE; HIGH-ORDER SLIDING MODES; INDEPENDENT CONTROLS; INDUSTRIAL PROBLEMS; MIMO NONLINEAR SYSTEMS; MULTI INPUT MULTI OUTPUTS; OUTPUT FEEDBACK CONTROL; OUTPUT FEEDBACK CONTROLS; OUTPUT FEEDBACKS; PAPER ADDRESSES; SAMPLING PERIODS; SLIDING-MODE DIFFERENTIATORS; STABILITY RESULTS;

PROBLEM SOLVING;

EID: 56349165790     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2008.2004384     Document Type: Article

References (27)

1. V. I. Utkin, Sliding Modes in Control Optimization. New York: Springer-Verlag, 1992.
2. R. A. DeCarlo, S. H. Zak, and G. H. Matthews, "Variable structure control of nonlinear multivariable systems: A tutorial," Proc. IEEE vol. 76, no. 3, pp. 212-232, Mar. 1988.
3. J. Y. Hung,W. Gao, and J. C. Hung, "Variable structure control: A survey," IEEE Trans. Ind. Electron., vol. 40, no. 1, pp. 2-22, Feb. 1993.
4. C. Edwards and S. K. Spurgeon, Sliding Modes Control: Theory and Applications. London, U.K.: Taylor & Francis, 1998.
5. H. M. Gutierrez and P. I. Ro, "Magnetic servo levitation by sliding-mode control of nonaffine systems with algebraic input invertibility," IEEE Trans. Ind. Electron., vol. 52, no. 5, pp. 1449-1455, Oct. 2005.
6. G. Edelbaher, K. Jezernik, and E. Urlep, "Low-speed sensorless control of induction machine," IEEE Trans. Ind. Electron., vol. 53, no. 1, pp. 120-129, Feb. 2006.
7. M. Comanescu and L. Xu, "Sliding-mode MRAS speed estimators for sensorless vector control of induction machine," IEEE Trans. Ind. Electron., vol. 53, no. 1, pp. 146-153, Feb. 2006.
8. D.-J. Kim, K.-H. Park, and Z. Bien, "Hierarchical longitudinal controller for rear-end collision avoidance," IEEE Trans. Ind. Electron., vol. 54, no. 2, pp. 805-817, Apr. 2007.
9. A. Levant, "Higher-order sliding modes, differentiation and output-feedback control," Int. J. Control, vol. 76, no. 9/10, pp. 924-941, Jun. 2003.
10. G. Bartolini, A. Pisano, E. Punta, and E. Usai, "A survey of applications of second-order sliding mode control to mechanical systems," Int. J. Control, vol. 76, no. 9/10, pp. 924-941, Jun. 2003.
11. J. Davila, L. Fridman, and A. Levant, "Second-order sliding-mode observer for mechanical systems," IEEE Trans. Autom. Control, vol. 50, no. 11, pp. 785-1789, Nov. 2005.
12. G. Bartolini, A. Pisano, and E. Usai, "Output-feedback control of container cranes: A comparative analysis," Asian J. Control, vol. 5, no. 4, pp. 825-837, Dec. 2003.
13. Y. Fang, W. E. Dixon, D. M. Dawson, and E. Zergeroglu, "Nonlinear coupling control laws for an underactuated overhead crane system," IEEE/ASME Trans. Mechatron., vol. 8, no. 3, pp. 418-423, Sep. 2003.
14. W. Singhose, K. L. Sorensen, and S. Dickerson, "A controller enabling precise positioning and sway reduction in bridge and gantry cranes," Control Eng. Pract., vol. 15, no. 7, pp. 825-837, Jul. 2007.
15. F. Hamerlain, K. Achour, T. Floquet, and W. Perruquetti, "Higher order sliding mode control of wheeled mobile robots in the presence of sliding effects," in Proc. 44th IEEE Conf. Decision Control Eur. Control Conf., Seville, Spain, Dec. 2005, pp. 1959-1963.
16. P. Kaveh, A. Ashrafi, and Y. Shtessel, "Integral and second order sliding mode control of harmonic oscillator," in Proc. 44th IEEE Conf. Decision Control Eur. Control Conf., Seville, Spain, Dec. 2005, pp. 3941-3946.
17. A. Pisano and E. Usai, "Output-feedback control of an underwater vehicle prototype by higher-order sliding modes," Automatica, vol. 40, no. 9, pp. 1525-1531, Sep. 2004.
18. S. Laghrouche, F. Plestan, and A. Glumineau, "Multivariable practical higher order sliding mode control," in Proc. 44th IEEE Conf. Decision Control Eur. Control Conf., Seville, Spain, Dec. 2005, pp. 1252-1257.
19. D. Galzi and Y. Shtessel, "UAV formations control using high order sliding modes," in Proc. Amer. Control Conf., Minneapolis, MN, Jun. 2006, pp. 4249-4254.
20. M. Defoort, F. Nollet, T. Floquet, and W. Perruquetti, "Higher order sliding mode control of stepper motor," in Proc. 45th IEEE Conf. Decision Control, San Diego, CA, Dec. 2006, pp. 4002-4007.
21. M. Defoort, T. Floquet, A. Kokosy, and W. Perruquetti, "Finite-time control of a class of MIMO nonlinear systems using high order integral sliding mode control," in Proc. Int. Workshop Variable Structure Syst., Alghero, Italy, Jun. 2006, pp. 133-138.
22. D. Galzi and Y. Shtessel, "Closed-coupled formation flight control using quasi-continuous high-order sliding mode," in Proc. Amer. Control Conf., New York, Jul. 2007, pp. 1799-1804.
23. F. Esfandiari and H. K. Khalil, "Output feedback stabilization of fully linearizable systems," Int. J. Control, vol. 56, pp. 1007-1037, 1992.
24. H. K. Khalil, "Robust servomechanism output feedback controllers for a class of feedback linearizable systems," Automatica, vol. 30, pp. 1587-1599, 1994.
25. A. Dabroom and H. K. Khalil, "Numerical differentiation using high-gain observers," in Proc. 37th IEEE Conf. Decision Control, San Diego, CA, Dec. 1997, pp. 4790-4795.
26. A. N. Atassi and H. K. Khalil, "A separation principle for the stabilization of a class of nonlinear systems," IEEE Trans. Autom. Control, vol. 44, no. 9, pp. 1672-1687, Sep. 1999.
27. M. Krstic, I. Kanellakopoulos, and P. V. Kokotovic, Nonlinear and Adaptive Control Design. New York: Wiley, 1995.