The Time Delay Control with Switching Action (TDCSA) method, which consists of Time Delay Control (TDC) and a switching action of sliding mode control (SMC), has been proposed as a promising technique in the robust control area where the plant has an unknown dynamics with parameter variations and substantial disturbances are preset. When TDCSA is applied to the plant with saturation nonlinearity, however, the so-called windup phenomenon is observed to arise, causing excessive overshoot and instability. The integral element of TDCSA and the saturation element of a plant cause the windup phenomenon. There are two integral effects in TDCSA. One is the integral effect caused by time delay estimation of TDC. The other is the integral term of an integral sliding surface. To solve this problem, we have proposed an anti-windup scheme method for TDCSA. The stability of the overall system has been proved for a class of nonlinear system. Experimental results show that the proposed method overcomes the windup problem of the TDCSA.
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December 2003
Technical Papers
The Development of Anti-Windup Scheme for Time Delay Control With Switching Action Using Integral Sliding Surface
Sung-Uk Lee,
Sung-Uk Lee
Nuclear Robotics Laboratory, Korea Atomic Energy Research Institute, 150 Dujin-dong, Yusong-gu, Daejeon 305-353, Korea
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Pyung Hun Chang
Pyung Hun Chang
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusong-dong, Yusong-gu, Daejeon 305-701, Korea
Search for other works by this author on:
Sung-Uk Lee
Nuclear Robotics Laboratory, Korea Atomic Energy Research Institute, 150 Dujin-dong, Yusong-gu, Daejeon 305-353, Korea
Pyung Hun Chang
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusong-dong, Yusong-gu, Daejeon 305-701, Korea
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division Sept. 2, 2002; final revision, May 7, 2003. Associate Editor: Misawa.
J. Dyn. Sys., Meas., Control. Dec 2003, 125(4): 630-638 (9 pages)
Published Online: January 29, 2004
Article history
Received:
September 2, 2002
Revised:
May 7, 2003
Online:
January 29, 2004
Citation
Lee, S., and Chang, P. H. (January 29, 2004). "The Development of Anti-Windup Scheme for Time Delay Control With Switching Action Using Integral Sliding Surface ." ASME. J. Dyn. Sys., Meas., Control. December 2003; 125(4): 630–638. https://doi.org/10.1115/1.1636775
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