Title :
Adaptive robust variable structure control with pseudo sliding patch
Author :
Ogawa, O.K. ; Hikita, H. ; Hanajima, N. ; Yamashita, M.
Author_Institution :
Muroran Inst. of Technol., Japan
Abstract :
A subset is introduced in which there is a pseudo sliding patch. The state trajectory is attracted to the patch and once it enters the subset, it converges to zero by using the proposed control. In addition, the system uncertainties are estimated in the whole state space by an adaptation law. This control depresses the chattering phenomenon.
Keywords :
Lyapunov methods; adaptive control; control nonlinearities; nonlinear control systems; robust control; state-space methods; variable structure systems; Lyapunov function; adaptation law; adaptive control; chattering phenomenon; nonlinear system; pseudo sliding patch; robust control; state space estimation; state trajectory; system uncertainty; variable structure control; variable structure system;
Conference_Titel :
SICE 2004 Annual Conference
Conference_Location :
Sapporo
Print_ISBN :
4-907764-22-7
