Title :
Continuous higher order sliding mode control based on adaptive disturbance compensation
Author :
Edwards, Chris ; Shtessel, Yuri B.
Author_Institution :
Coll. of Eng. & Phys. Sci., Univ. of Exeter, Exeter, UK
fDate :
June 29 2014-July 2 2014
Abstract :
In this paper a new continuous adaptive r-th order sliding mode controller is proposed. It is built from two components: one which guarantees smooth finite time stabilization of the origin for the known nominal system, and one which represents a disturbance observer, based on a super-twisting structure, to guarantee robustness to a class of twice differentiable uncertainty. The observer has adaptive features which minimize the size of the gains, whilst still guaranteeing the existence of a sliding motion. The adaptive scheme has a dual-layer structure based on equivalent injection concepts. The paper provides computer simulations to validate the theory.
Keywords :
adaptive control; compensation; continuous systems; observers; stability; uncertain systems; variable structure systems; adaptive disturbance compensation; computer simulations; continuous adaptive r-th order sliding mode controller; continuous higher order sliding mode control; disturbance observer; dual-layer structure; equivalent injection concepts; nominal system; smooth finite time stabilization; super-twisting structure; twice differentiable uncertainty; Convergence; Equations; Observers; Robustness; Sliding mode control; Uncertainty;
Conference_Titel :
Variable Structure Systems (VSS), 2014 13th International Workshop on
Conference_Location :
Nantes
DOI :
10.1109/VSS.2014.6881147