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Sliding Mode Control of coupled tank systems Using Conditional Integrators

IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 118-125页

作者： Sankata Bhanjan Prusty Sridhar Seshagiri Umesh Chandra Pati Kamala Kanta Mahapatra Department of Electronics and Communication Engineering Madanapalle Institute of Technology and ScienceMadanapalleAndhra Pradesh 517325India Department of Electrical and Computer Engineering San Diego State UniversitySan DiegoCA 92182 USA Department of Electronics and Communication Engineering National Institute of TechnologyRourkelaOdisha 769008India

For the problem of set point regulation of the liquid level in coupled tank systems, we present a continuous sliding mode control(SMC) with a "conditional integrator", which only provides integral action inside the boundary layer. For a special choice of the controller parameters, our design can be viewed as a PID controller with anti-windup and achieves robust *** proposed controller recovers the transient response performance without control chattering. Both full-state feedback as well as output-feedback designs are presented in this work. Our output-feedback design uses a high-gain observer(HGO) which recovers the performance of a state-feedback design where plant parameters are assumed to be known. We consider both interacting as well as non-interacting tanks and analytical results for stability and transient performance are presented in both the cases. The proposed controller continuous SMC with conditional integrators(CSMCCI) provides superior results in terms of the performance measures as well as performance indices than ideal SMC, continuous SMC(CSMC) and continuous SMC with conventional integrator(CSMCI). Experimental results demonstrate good tracking performance in spite of unmodeled dynamics and disturbances.

关键词： Conditional integrator coupled tank system LabVIEW sliding mode control

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