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Authors: Zhiyu Xi and Tim Hesketh

Affiliation: School of Electrical Engineering & Telecommunications, University of New South Wales, Australia

Keyword(s): Sliding mode, reaching control, equivalent control, MPC, Hammerstein model, nonlinearity.

Related Ontology Subjects/Areas/Topics: Adaptive Signal Processing and Control ; Informatics in Control, Automation and Robotics ; Nonlinear Signals and Systems ; Optimization Problems in Signal Processing ; Signal Processing, Sensors, Systems Modeling and Control ; System Identification

Abstract: This paper addresses discrete sliding mode control of nonlinear systems. The nonlinear system is identified as a Hammerstein model firstly to isolate the nonlinearity from the sliding surface design. An MPC law is employed to design the sliding surface. Then Utkins method of equivalent control is used. The method illustrates the effect of the nonlinearity on reaching control. The ball and beam system is adopted as an example. Simulation and on-line results are provided.

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Paper citation in several formats:
Xi, Z. and Hesketh, T. (2007). SLIDING MODE CONTROL FOR HAMMERSTEIN MODEL BASED ON MPC. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-972-8865-84-9; ISSN 2184-2809, SciTePress, pages 232-237. DOI: 10.5220/0001639402320237

@conference{icinco07,
author={Zhiyu Xi. and Tim Hesketh.},
title={SLIDING MODE CONTROL FOR HAMMERSTEIN MODEL BASED ON MPC},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2007},
pages={232-237},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001639402320237},
isbn={978-972-8865-84-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - SLIDING MODE CONTROL FOR HAMMERSTEIN MODEL BASED ON MPC
SN - 978-972-8865-84-9
IS - 2184-2809
AU - Xi, Z.
AU - Hesketh, T.
PY - 2007
SP - 232
EP - 237
DO - 10.5220/0001639402320237
PB - SciTePress