Robust Bumpless Transfer Control for Switched Systems with Unmatched Uncertainties Based on the Common Robust Integral Sliding Mode Under Arbitrary Switching Rules

Xiaoyu Zhang, Shuiping Xiong () and Rong Guo
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Xiaoyu Zhang: Beijing Key Laboratory of Robot Bionics and Function Research, Beijing University of Civil Engineering and Architecture, Beijing 100044, China
Shuiping Xiong: Key Laboratory of AI and Information Processing, Education Department of Guangxi Zhuang Autonomous Region, Hechi University, Hechi 546300, China
Rong Guo: Beijing Key Laboratory of Robot Bionics and Function Research, Beijing University of Civil Engineering and Architecture, Beijing 100044, China

Mathematics, 2024, vol. 12, issue 22, 1-19

Abstract: In this paper, a robust bumpless transfer control scheme for tracking control is proposed to avoid large jumps in the control signals for a switched system (SS) with unmatched uncertainty and disturbance. The robust bumpless controller comprises a robust linear feedback control (RLFC) and a continuous sliding mode control (CSMC) based on the given robust integral sliding mode (RISM). The RLFC meets the requirement of bumpless indices, and the CSMC suppresses the unmatched uncertainty and disturbance. First, the RLFC design is proposed, and the linear feedback coefficients satisfy the bumpless indices, despite the uncertainty and disturbance. Then, a RISM surface design is proposed, in which the uncertain SS satisfies the given H-infinity robust performance index, and can resist the unmatched uncertainty. Consequently, the CSMC ensures that the RISM surface can be reached in finite time from the initial time instant. By composing the CSMC with the RLFC, the control scheme achieves the robust trajectory tracking and the suppression of the control signal bumps during switching. Finally, the proposed robust bumpless transfer control scheme was applied to the different examples, and the simulation results verified its effectiveness.

Keywords: switched systems; unmatched uncertainty; sliding mode control; bumpless; integral sliding mode (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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