Model-free controller design for nonlinear underactuated systems with uncertainties and disturbances by using extended state observer based chattering-free sliding mode control

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dc.authorid0000-0003-3595-3082en_US
dc.contributor.authorÖnen, Ümit
dc.date.accessioned2023-02-02T12:33:25Z
dc.date.available2023-02-02T12:33:25Z
dc.date.issued2023en_US
dc.departmentNEÜ, Mühendislik-Mimarlık Fakültesi, Mekatronik Mühendisliği Bölümüen_US
dc.descriptionMakaleen_US
dc.descriptionWOS:000912458400001en_US
dc.description.abstractMost of the control strategies require a mathematical model or reasonable knowledge that is difficult to obtain for complex systems. Model-free control is a good alternative to avoid the difficulties and complex modeling procedures, especially if the knowledge about the system is insufficient. This paper presents a new control scheme completely independent of the system model. The proposed scheme combines sliding mode control (SMC) with intelligent proportional integral derivative (iPID) control based on a local model and extended state observer (ESO). Although the iPID control makes the proposed method model-free, it cannot guarantee that the tracking errors converge to zero asymptotically except the system is in a steady-state regime. Therefore, the SMC is added to the control scheme to ensure the convergence by minimizing the estimation errors of the observer. The proposed iPIDSMC controller is tested in the presence of different parameter variations and external disturbances on an inverted pendulum - cart (IPC), which is a highly unstable underactuated system with nonlinear coupled dynamics. The proposed controller is compared with the PID, iPID and Hierarchical Sliding Mode Control (HSMC) for a clearer evaluation. Simulation results showed that the proposed controller is extremely insensitive to parameter variations, matched and mismatched disturbances and the control signal of the proposed method is chattering-free, even though it is based on a discontinuous control action.en_US
dc.identifier.citationÖnen, Ü. (2023). Model-free controller design for nonlinear underactuated systems with uncertainties and disturbances by using extended state observer based chattering-free sliding mode control. IEEE ACCESS, 11, 2875-2885.en_US
dc.identifier.doi10.1109/ACCESS.2023.3234864en_US
dc.identifier.endpage2885en_US
dc.identifier.issn2169-3536en_US
dc.identifier.issue-en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage2875en_US
dc.identifier.urihttps://hdl.handle.net/20.500.12452/9157
dc.identifier.urihttp://dx.doi.org/10.1109/ACCESS.2023.3234864
dc.identifier.volume11en_US
dc.identifier.wosWOS:000912458400001en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc. (IEEE)en_US
dc.relation.ispartofIEEE ACCESSen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectExtended State Observeren_US
dc.subjectExternal Disturbanceen_US
dc.subjectIntelligent PIDen_US
dc.subjectModel-Free Controlen_US
dc.subjectRobust Controlen_US
dc.subjectSliding Mode Controlen_US
dc.subjectUncertaintiesen_US
dc.subjectUnderactuated Systemen_US
dc.titleModel-free controller design for nonlinear underactuated systems with uncertainties and disturbances by using extended state observer based chattering-free sliding mode controlen_US
dc.typeArticleen_US

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