Data-driven sliding mode control for partially unknown nonlinear systems
This paper presents a new data-driven control for multi-input, multi-output nonlinear systems with partially unknown dynamics and bounded disturbances. Since exact nonlinearity cancellation is not feasible with unknown disturbances, we adapt sliding mode control (SMC) for system stability and robustness. The SMC features a data-driven robust controller to reach the sliding surface and a data-driven nominal controller from a semidefinite program (SDP) to ensure stability. Simulations show the proposed method outperforms existing data-driven approaches with approximate nonlinearity cancellation.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
A Deep Reinforcement Learning-based Sliding Mode Control Design for Partially-known Nonlinear Systems
Presence of model uncertainties creates challenges for model-based control design, and complexity of the control design is further exacerbated when coping with nonlinear systems. This paper presents a sliding mode contro…
Deep Reinforcement LearningReinforcement Learning (RL)Learning-Based Robust Fixed-Time Terminal Sliding Mode Control
In this paper, we develop and analyze an integral fixed-time sliding mode control method for a scenario in which the system model is only partially known, utilizing Gaussian processes. We present two theorems on fixed-ti…
Gaussian ProcessesA co-design method of online learning SMC law via an input-mappping strategy
The research on sliding mode control strategy is generally based on the robust approach. The larger parameter space consideration will inevitably sacrifice part of the performance. Recently, the data-driven sliding mode …
Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces…
FrictionA Practical Application of Sliding Mode Control in the Motion Control of a High Precision Piezoelectric Motor
This paper proposes a practical implementation of sliding mode control (SMC) that utilizes partial modeling compensation. Sliding mode control is well known for its effectiveness as a model free control approach, however…
Friction