Predictive Sliding Mode Control Based on Laguerre Functions
- Authors
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Miodrag Spasic
Department of Control Systems, Faculty of Electronic Engineering, University of Niš
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Darko Mitic
Department of Control Systems, Faculty of Electronic Engineering, University of Niš
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Morten Hovd
Department of Engineering Cybernetics, Norwegian University of Science and Technology
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Dragan Antic
Department of Control Systems, Faculty of Electronic Engineering, University of Niš
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- Abstract
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This paper deals with Predictive Sliding Mode Control (PSMC) that uses Laguerre functions in the design of a control input signal. Two types of PSMC algorithms are considered: one originating from the digital equivalent control method approach, and another containing an additional sliding mode control component that provides the robustness and determines the system dynamics in reaching mode. A one-step-delayed disturbance estimator is introduced to account for system nonlinearities and unknown disturbances, as well as to ensure better system steady-state accuracy. The proposed algorithms are demonstrated by conducting several real-time experiments on a modular DC servo system. Robustness of the closed loop, affected by tuning parameter values, is demonstrated as well.
- References
- Downloads
- Published
- 2019-03-26
- Issue
- Vol. 21 No. 1 (2019)
- Section
- Articles