ISSN 2394-5125
 

Research Article 


NOVEL CHATTERING ALLEVIATION DESIGN FOR NONLINEAR SYSTEMS WITH MISMATCHED DISTURBANCES

Dr. Bhawna Tandon, Ashima Kalra, Dr. Parveen Singla.

Abstract
It is well known that nonlinear disturbance observer (NDO) predicated on sliding mode control (SMC) technique is efficient in handling nonlinear systems having mismatched uncertainties. But, the problem of chattering remains due to the discontinuous control signal. In this paper, an elementary NDO-based SMC methodology is proposed resulting in chattering less robust tracking of nonlinear inverted pendulum with mismatched uncertainties that vary over time. A distance function is used to alleviate the chattering. This function represents the stretch between the sliding surface and the state errors trajectory as a correction function in the control law. The Lyapunov method is utilized to demonstrate the stability of the whole system. Simulations are carried out on an Inverted Pendulum subjected to time varying mismatched uncertainties. It has been shown through the simulation results that the control scheme proposed here in this paper has the benefit of much reduced chattering.

Key words: Nonlinear disturbance observer (NDO), sliding mode control (SMC), chattering, mismatched disturbances, distance function.


 
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How to Cite this Article
Pubmed Style

Dr. Bhawna Tandon, Ashima Kalra, Dr. Parveen Singla. NOVEL CHATTERING ALLEVIATION DESIGN FOR NONLINEAR SYSTEMS WITH MISMATCHED DISTURBANCES. JCR. 2020; 7(19): 1650-1659. doi:10.31838/jcr.07.19.202


Web Style

Dr. Bhawna Tandon, Ashima Kalra, Dr. Parveen Singla. NOVEL CHATTERING ALLEVIATION DESIGN FOR NONLINEAR SYSTEMS WITH MISMATCHED DISTURBANCES. http://www.jcreview.com/?mno=108116 [Access: September 14, 2020]. doi:10.31838/jcr.07.19.202


AMA (American Medical Association) Style

Dr. Bhawna Tandon, Ashima Kalra, Dr. Parveen Singla. NOVEL CHATTERING ALLEVIATION DESIGN FOR NONLINEAR SYSTEMS WITH MISMATCHED DISTURBANCES. JCR. 2020; 7(19): 1650-1659. doi:10.31838/jcr.07.19.202



Vancouver/ICMJE Style

Dr. Bhawna Tandon, Ashima Kalra, Dr. Parveen Singla. NOVEL CHATTERING ALLEVIATION DESIGN FOR NONLINEAR SYSTEMS WITH MISMATCHED DISTURBANCES. JCR. (2020), [cited September 14, 2020]; 7(19): 1650-1659. doi:10.31838/jcr.07.19.202



Harvard Style

Dr. Bhawna Tandon, Ashima Kalra, Dr. Parveen Singla (2020) NOVEL CHATTERING ALLEVIATION DESIGN FOR NONLINEAR SYSTEMS WITH MISMATCHED DISTURBANCES. JCR, 7 (19), 1650-1659. doi:10.31838/jcr.07.19.202



Turabian Style

Dr. Bhawna Tandon, Ashima Kalra, Dr. Parveen Singla. 2020. NOVEL CHATTERING ALLEVIATION DESIGN FOR NONLINEAR SYSTEMS WITH MISMATCHED DISTURBANCES. Journal of Critical Reviews, 7 (19), 1650-1659. doi:10.31838/jcr.07.19.202



Chicago Style

Dr. Bhawna Tandon, Ashima Kalra, Dr. Parveen Singla. "NOVEL CHATTERING ALLEVIATION DESIGN FOR NONLINEAR SYSTEMS WITH MISMATCHED DISTURBANCES." Journal of Critical Reviews 7 (2020), 1650-1659. doi:10.31838/jcr.07.19.202



MLA (The Modern Language Association) Style

Dr. Bhawna Tandon, Ashima Kalra, Dr. Parveen Singla. "NOVEL CHATTERING ALLEVIATION DESIGN FOR NONLINEAR SYSTEMS WITH MISMATCHED DISTURBANCES." Journal of Critical Reviews 7.19 (2020), 1650-1659. Print. doi:10.31838/jcr.07.19.202



APA (American Psychological Association) Style

Dr. Bhawna Tandon, Ashima Kalra, Dr. Parveen Singla (2020) NOVEL CHATTERING ALLEVIATION DESIGN FOR NONLINEAR SYSTEMS WITH MISMATCHED DISTURBANCES. Journal of Critical Reviews, 7 (19), 1650-1659. doi:10.31838/jcr.07.19.202