Title :
Sliding Mode Control Governed by Adaptive Tuning Law for Uncertain Nonlinear Systems
Author :
Kuo, T.C. ; Chang, S.H. ; Huang, Y.J.
Author_Institution :
Dept. of Electr. Eng., Ching Yun Univ., Chung-li
Abstract :
A systematic adaptive sliding mode controller design for solving the robust tracking problem is developed for nonlinear systems. An adaptation approach with only one adaptive gain parameter is proposed to replace the high frequency switching control term in conventional sliding mode control. This adaptive gain parameter is tuned to deal with unknown but bounded system uncertainties. The stability of the control system is proven by using the Lyapunov theory. System robustness is achieved. Tracking performance is guaranteed. The proposed control method retains the advantages of conventional sliding mode control and possesses no control input chattering. The simulation results reveal the validity and effectiveness of the developed control method
Keywords :
Lyapunov methods; adaptive control; control system synthesis; nonlinear control systems; robust control; time-varying systems; tracking; uncertain systems; variable structure systems; Lyapunov theory; adaptive gain parameter; adaptive tuning law; bounded system uncertainties; control system stability; high frequency switching control; robust tracking problem; sliding mode control; system robustness; tracking performance; uncertain nonlinear systems; Adaptive control; Adaptive systems; Control systems; Frequency; Nonlinear control systems; Nonlinear systems; Programmable control; Robust control; Sliding mode control; Tuning; Adaptive control; Nonlinear systems; Robustness; Tracking; Variable structure systems;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257770
