Title :
Adaptive switching gain for a discrete-time sliding mode controller
Author :
Monsees, G. ; Scherpen, J.M.A.
Author_Institution :
Fac. of Inf. Technol. & Syst., Delft Univ. of Technol., Netherlands
Abstract :
Sliding mode control is a well-known technique capable of making the closed loop system robust with respect to certain kinds of parameter variations and unmodeled dynamics. The sliding mode control law consists of the linear control part which is based on the model knowledge and the discontinuous control part which is based on the model uncertainty. This paper describes two known adaption laws for the switching gain for continuous-time sliding mode controllers. Since these adaption laws have some fundamental problems in discrete-time, we introduce a new adaption law specifically designed for discrete-time sliding mode controllers
Keywords :
adaptive control; closed loop systems; discrete time systems; pendulums; robust control; variable structure systems; adaptive control; closed loop system; discrete-time systems; pendulum; robust control; sliding mode control; switching gain; Adaptive control; Closed loop systems; Control engineering; Control systems; Information technology; Nonlinear control systems; Programmable control; Robust control; Sliding mode control; Uncertainty;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.879479