Cooperative control of NN super twisting sliding mode and EPH methods for uncertain nonlinear systems

Authors

Aiyun Zhu, Haisheng Yu, Xunkai Gao

Abstract

A cooperative control strategy is proposed based on radial basis function neural network (NN) super twisting sliding mode and error port-controlled Hamiltonian (EPH) methods to enhance dynamic performance and steady state performance of the system. First, a NN super twisting sliding mode control method is developed for system with unknown external disturbances and uncertain parameters, where NN is adopted to approximate unknown control gain, the disturbance observer (DOB) is employed to estimate the unknown lumped disturbance. The dynamic performance of the control system is enhanced. Second, the EPH control method based on DOB is developed to increase the accuracy of the control system. Lastly, NN super twisting sliding mode and EPH methods-based cooperative control strategy is developed, the superiority of the proposed method is verified through the simulation and experiments.

Keywords

cooperative control, error port-controlled hamiltonian, sliding mode control, super twisting

Citation

• Journal: Journal of the Franklin Institute
• Year: 2024
• Volume: 361
• Issue: 3
• Pages: 1186–1210
• Publisher: Elsevier BV
• DOI: 10.1016/j.jfranklin.2023.12.049

BibTeX

@article{Zhu_2024,
  title={{Cooperative control of NN super twisting sliding mode and EPH methods for uncertain nonlinear systems}},
  volume={361},
  ISSN={0016-0032},
  DOI={10.1016/j.jfranklin.2023.12.049},
  number={3},
  journal={Journal of the Franklin Institute},
  publisher={Elsevier BV},
  author={Zhu, Aiyun and Yu, Haisheng and Gao, Xunkai},
  year={2024},
  pages={1186--1210}
}

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