Title :
Adaptive motion control based on fourier series and sliding mode control
Author :
Jing, Che ; Bo, Liu
Author_Institution :
Dept. of Autom., Nanjing Univ. of Posts & Telecommun., Nanjing
Abstract :
A novel adaptive controller based on sliding mode control with Fourier series approximation approach is presented. To eliminate the impact of time variant characteristics of dead zone, a control law is proposed with an undetermined uncertainty item and an undetermined compensation item through sliding control method, which are then approximated with Fourier series. Lyapunov method is used to guarantee stability. The simulation results validate the effectiveness of the proposed controller applied in position tracking control.
Keywords :
Fourier series; Lyapunov methods; adaptive control; position control; variable structure systems; Fourier series approximation; Lyapunov method; adaptive motion control; position tracking control; sliding mode control; undetermined compensation item; undetermined uncertainty item; Adaptive control; Automatic control; Automation; Control systems; DC motors; Fourier series; Motion control; Programmable control; Sliding mode control; Uncertainty; Fourier series; adaptive control; position tracking control; sliding mode control;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4594483
