Huang Ying-Jeh, Kuo Tzu-Chun, Chang Shin-Hung
Department of Electrical Engineering, Yuan Ze University, Chung-Li, Taiwan, R.O.C.
IEEE Trans Syst Man Cybern B Cybern. 2008 Apr;38(2):534-9. doi: 10.1109/TSMCB.2007.910740.
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.
本文提出了一种用于具有不确定参数的非线性系统鲁棒控制的系统自适应滑模控制器设计方法。开发了一种无高频切换的自适应调整方法来处理未知但有界的系统不确定性。保证了跟踪性能。利用李雅普诺夫理论证明了系统的鲁棒性和稳定性。不确定性的上界无需预先知道。因此，所提出的方法能够有效实施。实验结果证明了所提控制方法的有效性。
