Title :
Adaptive Sliding-Mode Control for NonlinearSystems With Uncertain Parameters
Author :
Huang, Ying-Jeh ; Kuo, Tzu-Chun ; Chang, Shin-Hung
Author_Institution :
Yuan Ze Univ., Chungli
fDate :
4/1/2008 12:00:00 AM
Abstract :
This correspondence proposes a systematic adaptive sliding- mode controller design for the robust control of nonlinear systems with uncertain parameters. An adaptation tuning approach without high- frequency switching is developed to deal with unknown but bounded system uncertainties. Tracking performance is guaranteed. System robustness, as well as stability, is proven by using the Lyapunov theory. The upper bounds of uncertainties are not required to be known in advance. Therefore, the proposed method can be effectively implemented. Experimental results demonstrate the effectiveness of the proposed control method.
Keywords :
Lyapunov methods; adaptive control; nonlinear control systems; robust control; uncertain systems; variable structure systems; Lyapunov theory; adaptation tuning approach; adaptive sliding-mode control design; nonlinear control system; robust control; robust stability; uncertain parameter; Adaptive control; Adaptive systems; Control systems; Nonlinear control systems; Nonlinear systems; Programmable control; Robust control; Robust stability; Sliding mode control; Uncertainty; Adaptive control; robustness; tracking; uncertain systems; variable structure systems; Algorithms; Artifacts; Artificial Intelligence; Computer Simulation; Feedback; Information Storage and Retrieval; Models, Statistical; Nonlinear Dynamics; Pattern Recognition, Automated;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMCB.2007.910740