A predictive and sliding mode cascade controller

Kenneth R. Muske; Hashem Ashrafiuon; Mehdi Nikkhah

doi:10.1109/ACC.2007.4282633

A predictive and sliding mode cascade controller

Kenneth R. Muske, Hashem Ashrafiuon, Mehdi Nikkhah

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

18 Scopus citations

Abstract

This paper presents a cascade control structure to determine the open-loop optimal linear surface parameters for the sliding mode control of nonlinear mechanical systems. A discrete-time, nonlinear model predictive controller is used to update the time-invariant parameters of the sliding mode control surfaces in order to achieve some performance objective such as minimum energy or minimum time. The determination of these surface parameters is subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as input saturation. We prove the nominal stability of this cascade control structure and demonstrate its performance using the inverted pendulum on a cart as an illustrative example.

Original language	English (US)
Title of host publication	Proceedings of the 2007 American Control Conference, ACC
Pages	4540-4545
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2007.4282633
State	Published - Dec 1 2007
Externally published	Yes
Event	2007 American Control Conference, ACC - New York, NY, United States Duration: Jul 9 2007 → Jul 13 2007

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2007 American Control Conference, ACC
Country/Territory	United States
City	New York, NY
Period	7/9/07 → 7/13/07

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2007.4282633

Cite this

@inproceedings{150def5fa4b743b8a592bdcc385f572c,

title = "A predictive and sliding mode cascade controller",

abstract = "This paper presents a cascade control structure to determine the open-loop optimal linear surface parameters for the sliding mode control of nonlinear mechanical systems. A discrete-time, nonlinear model predictive controller is used to update the time-invariant parameters of the sliding mode control surfaces in order to achieve some performance objective such as minimum energy or minimum time. The determination of these surface parameters is subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as input saturation. We prove the nominal stability of this cascade control structure and demonstrate its performance using the inverted pendulum on a cart as an illustrative example.",

author = "Muske, {Kenneth R.} and Hashem Ashrafiuon and Mehdi Nikkhah",

year = "2007",

month = dec,

day = "1",

doi = "10.1109/ACC.2007.4282633",

language = "English (US)",

isbn = "1424409888",

series = "Proceedings of the American Control Conference",

pages = "4540--4545",

booktitle = "Proceedings of the 2007 American Control Conference, ACC",

note = "2007 American Control Conference, ACC ; Conference date: 09-07-2007 Through 13-07-2007",

}

TY - GEN

T1 - A predictive and sliding mode cascade controller

AU - Muske, Kenneth R.

AU - Ashrafiuon, Hashem

AU - Nikkhah, Mehdi

PY - 2007/12/1

Y1 - 2007/12/1

N2 - This paper presents a cascade control structure to determine the open-loop optimal linear surface parameters for the sliding mode control of nonlinear mechanical systems. A discrete-time, nonlinear model predictive controller is used to update the time-invariant parameters of the sliding mode control surfaces in order to achieve some performance objective such as minimum energy or minimum time. The determination of these surface parameters is subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as input saturation. We prove the nominal stability of this cascade control structure and demonstrate its performance using the inverted pendulum on a cart as an illustrative example.

AB - This paper presents a cascade control structure to determine the open-loop optimal linear surface parameters for the sliding mode control of nonlinear mechanical systems. A discrete-time, nonlinear model predictive controller is used to update the time-invariant parameters of the sliding mode control surfaces in order to achieve some performance objective such as minimum energy or minimum time. The determination of these surface parameters is subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as input saturation. We prove the nominal stability of this cascade control structure and demonstrate its performance using the inverted pendulum on a cart as an illustrative example.

UR - http://www.scopus.com/inward/record.url?scp=46449127527&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=46449127527&partnerID=8YFLogxK

U2 - 10.1109/ACC.2007.4282633

DO - 10.1109/ACC.2007.4282633

M3 - Conference contribution

AN - SCOPUS:46449127527

SN - 1424409888

SN - 9781424409884

T3 - Proceedings of the American Control Conference

SP - 4540

EP - 4545

BT - Proceedings of the 2007 American Control Conference, ACC

T2 - 2007 American Control Conference, ACC

Y2 - 9 July 2007 through 13 July 2007

ER -

A predictive and sliding mode cascade controller

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this