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An output feedback sliding mode control strategy for MIMO systems of arbitrary relative degree

Thierry Floquet 1, 2 Chris Edwards 3 Sarah Spurgeon 4
1 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
2 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : This paper develops an output feedback sliding mode controller for multi‐input multi‐output (MIMO) systems of any relative degree. A minimal set of outputs and output derivatives are identified to determine an augmented system which is relative degree 1, and a robust sliding mode differentiator is presented as the means to construct the extended output signal. It is shown that the transmission zeroes of the original plant appear directly in the reduced order sliding mode dynamics relating to the augmented system. A super twisting control algorithm is shown to provide robust control performance. Simulation results for a rationalized helicopter model taken from the literature are used to demonstrate the attraction of the approach.
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https://hal.inria.fr/hal-00643773
Contributor : Thierry Floquet Connect in order to contact the contributor
Submitted on : Tuesday, November 22, 2011 - 5:25:44 PM
Last modification on : Tuesday, May 25, 2021 - 12:40:03 PM

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Thierry Floquet, Chris Edwards, Sarah Spurgeon. An output feedback sliding mode control strategy for MIMO systems of arbitrary relative degree. International Journal of Robust and Nonlinear Control, Wiley, 2011, 21 (2), pp.119-236. ⟨10.1002/rnc.1579⟩. ⟨hal-00643773⟩

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