DocumentCode :
3121836
Title :
Adaptive Backstepping Sliding Mode Control with Gaussian Networks for a Class of Nonlinear Systems with Mismatched Uncertainties
Author :
Ma, Lei ; Schilling, Klaus ; Schmid, Christian
Author_Institution :
Department of Computer Science VII, Universitat Würzburg, D-97074 Würzburg, Germany ma@informatik.uni-wuerzburg.de
fYear :
2005
fDate :
12-15 Dec. 2005
Firstpage :
5504
Lastpage :
5509
Abstract :
This paper is concerned with the adaptive slidingmode control of a class of nonlinear systems in nonlinear parametric-pure-feedback form with mismatched uncertainties. Backstepping design procedure is applied, which leads to a new adaptive sliding-mode control. Gaussian radial-basis-function networks are used to approximate the unknown system dynamics. A new growing scheme of the Gaussian networks is proposed. The networks start with a loose structure in order to reduce the computational effort. More nodes are added to the networks progressively in order to improve the transient behaviour. With ideal sliding mode, asymptotic stability is reached. The performance of the control scheme is illustrated by simulation studies.
Keywords :
Adaptive control; Backstepping; Computer networks; Control systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Programmable control; Sliding mode control; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
Type :
conf
DOI :
10.1109/CDC.2005.1583038
Filename :
1583038
Link To Document :
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