Neuro-adaptive dynamic integral sliding mode control design with output differentiation observer for uncertain higher order MIMO nonlinear systems

This paper proposes a practical design method for the robust control of a class of MIMO nonlinear plants operating under model uncertainties and matched disturbances where the only available information for feedback are the outputs of the plant. A neural networks based dynamic integral sliding mod...

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Main Authors: Khan, Qudrat, Akmeliawati, Rini
Format: Article
Language:English
English
English
Published: Elsevier 2017
Subjects:
Online Access:http://irep.iium.edu.my/53663/
http://irep.iium.edu.my/53663/
http://irep.iium.edu.my/53663/
http://irep.iium.edu.my/53663/1/53663_Neuro-adaptive%20dynamic%20integral%20sliding%20mode.pdf
http://irep.iium.edu.my/53663/2/53663_Neuro-adaptive%20dynamic%20integral%20sliding%20mode_SCOPUS.pdf
http://irep.iium.edu.my/53663/3/53663_Neuro-adaptive%20dynamic%20integral%20sliding%20mode_WOS.pdf
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spelling iium-536632017-07-18T03:44:22Z http://irep.iium.edu.my/53663/ Neuro-adaptive dynamic integral sliding mode control design with output differentiation observer for uncertain higher order MIMO nonlinear systems Khan, Qudrat Akmeliawati, Rini TJ212 Control engineering This paper proposes a practical design method for the robust control of a class of MIMO nonlinear plants operating under model uncertainties and matched disturbances where the only available information for feedback are the outputs of the plant. A neural networks based dynamic integral sliding mode control (NNDISMC) with output differentiator observer is developed for the considered class. This NNDISMC approach utilizes the robust output differentiation observer for the higher derivative estimation and neural networks to estimate the nonlinear functions which are assumed unknown. Having estimated the unknown derivatives and uncertain functions, an integral manifold based on the estimated states is designed and a control law is proposed which confirms the sliding mode enforcement across the designed integral manifold from the very start of the process. The overall robustness of the controller is guaranteed by using the neural networks, differentiator observer and dynamic integral control law in a closed loop. The closed loop stability analysis is presented in detail, and the asymptotic convergence of the system states to the equilibrium is confirmed. The proposed method is very practical and plays a very significant role in the robust control of electromechanical systems, such as robotic manipulators, unmanned air vehicles and underwater vehicles. The simulation results on a robotic manipulator are presented to demonstrate the effectiveness of the proposed method. Elsevier 2017-02-22 Article PeerReviewed application/pdf en http://irep.iium.edu.my/53663/1/53663_Neuro-adaptive%20dynamic%20integral%20sliding%20mode.pdf application/pdf en http://irep.iium.edu.my/53663/2/53663_Neuro-adaptive%20dynamic%20integral%20sliding%20mode_SCOPUS.pdf application/pdf en http://irep.iium.edu.my/53663/3/53663_Neuro-adaptive%20dynamic%20integral%20sliding%20mode_WOS.pdf Khan, Qudrat and Akmeliawati, Rini (2017) Neuro-adaptive dynamic integral sliding mode control design with output differentiation observer for uncertain higher order MIMO nonlinear systems. Neurocomputing, 226. pp. 126-134. ISSN 0925-2312 E-ISSN 1872-8286 http://www.sciencedirect.com/science/article/pii/S0925231216314382 10.1016/j.neucom.2016.11.037
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
English
English
topic TJ212 Control engineering
spellingShingle TJ212 Control engineering
Khan, Qudrat
Akmeliawati, Rini
Neuro-adaptive dynamic integral sliding mode control design with output differentiation observer for uncertain higher order MIMO nonlinear systems
description This paper proposes a practical design method for the robust control of a class of MIMO nonlinear plants operating under model uncertainties and matched disturbances where the only available information for feedback are the outputs of the plant. A neural networks based dynamic integral sliding mode control (NNDISMC) with output differentiator observer is developed for the considered class. This NNDISMC approach utilizes the robust output differentiation observer for the higher derivative estimation and neural networks to estimate the nonlinear functions which are assumed unknown. Having estimated the unknown derivatives and uncertain functions, an integral manifold based on the estimated states is designed and a control law is proposed which confirms the sliding mode enforcement across the designed integral manifold from the very start of the process. The overall robustness of the controller is guaranteed by using the neural networks, differentiator observer and dynamic integral control law in a closed loop. The closed loop stability analysis is presented in detail, and the asymptotic convergence of the system states to the equilibrium is confirmed. The proposed method is very practical and plays a very significant role in the robust control of electromechanical systems, such as robotic manipulators, unmanned air vehicles and underwater vehicles. The simulation results on a robotic manipulator are presented to demonstrate the effectiveness of the proposed method.
format Article
author Khan, Qudrat
Akmeliawati, Rini
author_facet Khan, Qudrat
Akmeliawati, Rini
author_sort Khan, Qudrat
title Neuro-adaptive dynamic integral sliding mode control design with output differentiation observer for uncertain higher order MIMO nonlinear systems
title_short Neuro-adaptive dynamic integral sliding mode control design with output differentiation observer for uncertain higher order MIMO nonlinear systems
title_full Neuro-adaptive dynamic integral sliding mode control design with output differentiation observer for uncertain higher order MIMO nonlinear systems
title_fullStr Neuro-adaptive dynamic integral sliding mode control design with output differentiation observer for uncertain higher order MIMO nonlinear systems
title_full_unstemmed Neuro-adaptive dynamic integral sliding mode control design with output differentiation observer for uncertain higher order MIMO nonlinear systems
title_sort neuro-adaptive dynamic integral sliding mode control design with output differentiation observer for uncertain higher order mimo nonlinear systems
publisher Elsevier
publishDate 2017
url http://irep.iium.edu.my/53663/
http://irep.iium.edu.my/53663/
http://irep.iium.edu.my/53663/
http://irep.iium.edu.my/53663/1/53663_Neuro-adaptive%20dynamic%20integral%20sliding%20mode.pdf
http://irep.iium.edu.my/53663/2/53663_Neuro-adaptive%20dynamic%20integral%20sliding%20mode_SCOPUS.pdf
http://irep.iium.edu.my/53663/3/53663_Neuro-adaptive%20dynamic%20integral%20sliding%20mode_WOS.pdf
first_indexed 2023-09-18T21:15:54Z
last_indexed 2023-09-18T21:15:54Z
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