Experimental validation of disturbance observer-based adaptive terminal sliding mode control subject to control input limitations for SISO and MIMO systems

• Published in: European journal of control 2022-01, Vol.63, p.151-163
• Main Authors: Wang, Bo, Derbeli, Mohamed, Barambones, Oscar, Yousefpour, Amin, Jahanshahi, Hadi, Bekiros, Stelios, Aly, Ayman A., Alharthi, Mosleh M.
• Format: Article
• Language: English
• Subjects: Adaptive control; Adaptive terminal sliding mode control; Chaos theory; Continuity (mathematics); Control systems design; Controllers; Design; Disturbance observers; Experimental implementation; Finite time control; Hardware-in-the-loop simulation; Input saturation; MIMO (control systems); MIMO systems; Neural networks; Nonlinear systems; Robust control; SISO (control systems); SISO systems; Sliding mode control; System effectiveness; Uncertainty
• ISSN: 0947-3580; 1435-5671
• DOI: 10.1016/j.ejcon.2021.09.010

Nowadays, advances in different fields of technology have increased demands for reliable controllers. Uncertainty, disturbances, and limitations in control inputs are inevitable with most systems. Hence, considering them in designing a practical controller seems indispensable to any system. We propose an adaptive, robust, and finite time control technique for both multi-input multi-output (MIMO) and single-input single-output (SISO) systems. In the design of the proposed control technique, due to the undeniable existence of disturbances and control input limitations, their effects are fully taken to account. On the basis of a finite time sliding mode strategy, controllers and disturbance observers are designed. Then, the stability and finite time convergence of the proposed control scheme and disturbance observer are proven via the Lyapunov stability theory. Eventually, to investigate the performance of the proposed method in real-world applications, a hardware-in-the-loop (HIL) test is carried out for the proposed control scheme. Through numerical simulation and the results of the HIL test, the high-effective performance of the proposed controller for uncertain chaotic systems was demonstrated. Moreover, the results of the HIL test showed that by implementing continuous functions in the design of the controller, chattering, which has detrimental effects on systems, will be reduced in practical applications. Numerical simulations and the results of the HIL test bench for the modified controller clearly confirmed the effective performance of the offered control technique for practical systems. Thereby applying the proposed control technique for complex nonlinear systems subject to control input limitations, disturbances, and time-varying uncertainties will be useful. •We propose an adaptive, robust, and finite time control technique for both multi-input multi-output (MIMO) and single-input single-output (SISO) systems.•The stability and finite time convergence of the proposed control scheme and disturbance observer are proven via the Lyapunov stability theory.•To investigate the performance of the proposed method in real-world applications, a hardware-in-the-loop (HIL) test is carried out for the proposed control scheme. [Display omitted]