Abstract
The control of non-linear systems has been a research topic of interest for many years. It is not feasible to control such systems using linear control because of uncertainties. Non-linear control, like Sliding Mode Control (SMC), is robust against these uncertainties. Integration of SMC with Sliding Perturbation Observer (SPO) is a more robust controller with a perturbation compensation technique. Chattering is a drawback of SMC due to high switching gain, which can be reduced by altering the structure of the sliding surface of SMC by multiplying the gain with the velocity error. Integration of this proportional derivative gain PDSMC with SPO introduces a more robust controller (PDSMCSPO) with a faster convergence to the desired state.
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Acknowledgment
Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (1345253125).
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Abbasi, S.J., Jie, W., Khan, H., Lee, M.C. (2019). Robust Controller Design for Non-linear System with Perturbation Compensation. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11742. Springer, Cham. https://doi.org/10.1007/978-3-030-27535-8_61
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DOI: https://doi.org/10.1007/978-3-030-27535-8_61
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