The Robust Control of a Nonsmooth or Switched Control-Affine Uncertain Nonlinear System Using an Auxiliary Robust Integral of the Sign of the Error (ARISE) Controller DOI Creative Commons

Sujata Basyal,

Jonathan A. Ting,

Kislaya Mishra

et al.

Applied Sciences, Journal Year: 2025, Volume and Issue: 15(8), P. 4482 - 4482

Published: April 18, 2025

To deal with uncertainties in a dynamic system, many nonlinear control approaches have been considered. Unique challenges arise from that are bounded by constants, which has led to the development of both continuous and discontinuous methods. However, these methods either limited classes smooth models or tendency result chattering during practical applications. In this work, novel auxiliary robust integral sign error (ARISE) controller is proposed prevent (even those constants) for general, switched, nonsmooth control-affine systems. The ARISE system includes unique designed inject sliding mode (SM) term directly into without including an SM itself. fact, law continuous. Consequently, minimizes effect results terms. augmented adaptive update unknown effectiveness matrix model. prove controller, stability analysis was conducted resulted semi-global exponential tracking towards ultimate bound. Furthermore, performance evaluated compared against traditional through simulations using switched Van der Pol oscillator It concluded performs better than controller. improved consistent across different parameters disturbances.

Language: Английский

The Robust Control of a Nonsmooth or Switched Control-Affine Uncertain Nonlinear System Using an Auxiliary Robust Integral of the Sign of the Error (ARISE) Controller DOI Creative Commons

Sujata Basyal,

Jonathan A. Ting,

Kislaya Mishra

et al.

Applied Sciences, Journal Year: 2025, Volume and Issue: 15(8), P. 4482 - 4482

Published: April 18, 2025

To deal with uncertainties in a dynamic system, many nonlinear control approaches have been considered. Unique challenges arise from that are bounded by constants, which has led to the development of both continuous and discontinuous methods. However, these methods either limited classes smooth models or tendency result chattering during practical applications. In this work, novel auxiliary robust integral sign error (ARISE) controller is proposed prevent (even those constants) for general, switched, nonsmooth control-affine systems. The ARISE system includes unique designed inject sliding mode (SM) term directly into without including an SM itself. fact, law continuous. Consequently, minimizes effect results terms. augmented adaptive update unknown effectiveness matrix model. prove controller, stability analysis was conducted resulted semi-global exponential tracking towards ultimate bound. Furthermore, performance evaluated compared against traditional through simulations using switched Van der Pol oscillator It concluded performs better than controller. improved consistent across different parameters disturbances.

Language: Английский

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