Abstract
This paper proposes a novel control framework that combines the recently reformulated incremental nonlinear dynamic inversion with (higher-order) sliding-mode controllers/observers, for generic multi-input/multi-output nonlinear systems, named incremental sliding-mode control. As compared to the widely used approach that designs (higher-order) sliding-mode controllers/observers based on nonlinear dynamic inversion, the proposed incremental framework can further reduce the uncertainties while requiring less model knowledge. Because the uncertainties are reduced in the incremental framework, theoretical analyses demonstrate that the incremental sliding-mode control can passively resist a wider range of perturbations with reduced minimum possible control/observer gains. These merits are validated via numerical simulations for aircraft command tracking problems, in the presence of sudden actuator faults and structural damage.
| Original language | English |
|---|---|
| Pages (from-to) | 244-259 |
| Number of pages | 16 |
| Journal | Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control |
| Volume | 42 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2019 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.