Backstepping based on model reference and sliding mode control

Author

Wang, Qizhi ; Wang, Xiaoxia

Author_Institution

Coll. of Mech. Eng. & Autom., Huaqiao Univ., Quanzhou, China

fYear

2009

fDate

16-19 Aug. 2009

Abstract

Based on model reference, a global sliding mode controller (GSMC) with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers. The stability of the proposed controller is based on rigorous Lyapunov stability theorem and Lyapunov function methods. The presented control law can render the closed-loop controlled system asymptotically stabilize at a desired target. The simulation shows it has good position tracking performance and high robustness.

Keywords

Lyapunov methods; asymptotic stability; closed loop systems; servomechanisms; uncertain systems; variable structure systems; Lyapunov function methods; Lyapunov stability theorem; asymptotic stability; backstepping; closed-loop controlled system; controller stability; global sliding mode controller; model reference; uncertain servo system; Automatic control; Backstepping; Control system synthesis; Control systems; Error correction; Instruments; Lyapunov method; Robust control; Servomechanisms; Sliding mode control; backstepping control; model reference; robust control; sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronic Measurement & Instruments, 2009. ICEMI '09. 9th International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4244-3863-1

Electronic_ISBN

978-1-4244-3864-8

Type

conf

DOI

10.1109/ICEMI.2009.5274373

Filename

5274373