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Design of Sliding Mode Controllers using Reduced-order Koopman Mode Representations

Rao, S and Ghose, D (2023) Design of Sliding Mode Controllers using Reduced-order Koopman Mode Representations. In: UNSPECIFIED, pp. 2462-2467.

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Official URL: https://doi.org/10.1016/j.ifacol.2023.10.1224


The Koopman operator framework allows for a linear, but infinite-dimensional, representation of the dynamics of a non-linear system. The Koopman modes, or observables, and the resulting linear dynamics are derived purely using a data-driven framework, where the data are system outputs measured at discrete samples; improving accuracy of the Koopman representation requires a large number of such modes to be considered. Recent results consider the system input as well, in the derivation of the discrete linear dynamics, thus enabling the design of controllers. Sliding mode controllers (SMCs), including the discrete-time versions, can handle parameter uncertainties and variations and also ensure that the control objective is satisfied in finite time. In this paper, a discrete-time SMC is designed for the output control of a dynamic system approximated by fewer Koopman modes; the SMC is expected to handle uncertainties introduced by the ignored modes. Conditions are identified for the closed-loop system to be stable, with the occurrence of sliding mode. Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)

Item Type: Conference Paper
Publication: IFAC-PapersOnLine
Publisher: Elsevier B.V.
Additional Information: The copyright for this article belongs to Authors.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 18 Apr 2024 11:03
Last Modified: 18 Apr 2024 11:03
URI: https://eprints.iisc.ac.in/id/eprint/84502

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