IIUM Repository (IREP)

An integral sliding mode-based robust consensus control protocol design for electro-mechanical systems

Khan, Qudrat and Akmeliawati, Rini and khan, Mahmood Ashraf (2018) An integral sliding mode-based robust consensus control protocol design for electro-mechanical systems. Studies in Informatics and Control, 27 (2). pp. 147-154. ISSN 1220-1766

[img] PDF (full article) - Published Version
Restricted to Registered users only

Download (507kB) | Request a copy
[img]
Preview
PDF
Download (437kB) | Preview
[img]
Preview
PDF
Download (326kB) | Preview

Abstract

This paper proposes a consensus tracking control for a class of second-order multi-agent nonlinear systems and generalizes the concept of integral sliding mode for networked systems. This design relies upon an integral manifold which is defined as a function of the consensus error variables. The designed integral manifold helps in the establishment of sliding mode without reaching phase. Consequently, the robustness against uncertainties is guaranteed from the very start. The continuous control components, of the control laws, governs the dynamics of the nonlinear system in sliding mode and the discontinuous terms handle the disturbances. The stability analysis is given to show the sliding mode establishment and an example is considered to demonstrate the benefits of the proposed strategy.

Item Type: Article (Journal)
Additional Information: 5806/64483
Uncontrolled Keywords: networked multi-agent systems, uncertain system, integral mode, robust consensus
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Prof. Dr. Rini Akmeliawati
Date Deposited: 10 Jul 2018 10:55
Last Modified: 24 Jan 2019 09:47
URI: http://irep.iium.edu.my/id/eprint/64483

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year