Sliding Mode Control of Coupled Tank Systems Using Conditional Integrators  

作　　者：Sankata Bhanjan Prusty Sridhar Seshagiri Umesh Chandra Pati Kamala Kanta Mahapatra 

机构地区：[1]Department of Electronics and Communication Engineering,Madanapalle Institute of Technology and Science,Madanapalle,Andhra Pradesh 517325,India [2]Department of Electrical and Computer Engineering,San Diego State University,San Diego,CA 92182 USA [3]Department of Electronics and Communication Engineering,National Institute of Technology,Rourkela,Odisha 769008,India

出　　处：《IEEE/CAA Journal of Automatica Sinica》2020年第1期118-125,共8页自动化学报（英文版）

摘　　要：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 regulation.The 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.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 regulation.The 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 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TJ811[自动化与计算机技术—控制科学与工程]