Title: Adaptive decentralised sliding mode controller and observer for asynchronous nonlinear large-scale systems with backlash

Authors: Ahmad Taher Azar; Fernando E. Serrano

Addresses: Faculty of Computers and Information, Benha University, Egypt; School of Engineering and Applied Sciences, Nile University Campus, Sheikh Zayed District, Juhayna Square, 6th of October City, Giza 12588, Egypt ' Central American Technical University UNITEC, Zona Jacaleapa, Tegucigalpa, Honduras

Abstract: In this article an adaptive decentralised sliding mode controller and observer for asynchronous nonlinear large-scale systems with backlash is proposed. In the literature, only the synchronous case for input nonlinearities such as dead-zone and saturation is found. In this article, the asynchronous case for systems with backlash is studied considering the backlash effect. Owing to the complexity of the backlash nonlinearity, an adaptive decentralised controller is proposed because of the capability of this strategy to deal with uncertainties and to improve the system performance when this nonlinearity is found. Additionally, a decentralised sliding mode observer is proposed in order to estimate the states of the system.

Keywords: decentralised control; switched systems; sliding mode control; asynchronous control.

DOI: 10.1504/IJMIC.2018.093526

International Journal of Modelling, Identification and Control, 2018 Vol.30 No.1, pp.61 - 71

Received: 21 Mar 2017
Accepted: 21 Apr 2017
Published online: 27 Jul 2018 *

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