Design of Sliding Mode Controller with Uncertainty Adaptation

  • Kim, Min-Chan ;
  • Nam, Jing-Rak ;
  • Park, Seung-Kyu ;
  • Kwak, Gun-Pyong
  • Published : 2006.09.30

Abstract

In this paper, a sliding mode control method with uncertainty adaptation is proposed by introducing the virtual state. Because upper bound of the uncertainty is very difficult to know, we estimate this by using the simple adaptation law and design the sliding surface which has dynamic of nominal system. An optimal controller is used by nominal controller. And if initial values of the virtual state are chosen properly, the reaching phase is removed.

Keywords

Robust control;Sliding Mode Control;Parameter Adaptation

References

  1. J. Y. Hung, W. Cao, Hung. J .C., 'Variable structure control : A survey', IEEE Trans. on Industrial Electronics, Vol.40, No.1, 1993, pp.2-22 https://doi.org/10.1109/41.184817
  2. V. I. Utkin, Variable Structure Systems with Sliding Modes, IEEE Trans. Automatic Control, Vol.22, No.2, 1977, pp.212-222 https://doi.org/10.1109/TAC.1977.1101446
  3. K. John, J. C. Doyle and K Glover, Robust and Optimal Control, Prentice Hall, 1995
  4. Frank L. Lewis Applied Optimal Control and Estimation, Prentice-Hall, 1992
  5. D. S. Yoo, M. J. Chung, 'A variable structure control with simple adaptation laws for upper bounds on the norm of the uncertainties', IEEE Trans. Automatic Control, Vol.37, No.4, 1992, pp.860-865 https://doi.org/10.1109/9.256348
  6. S. K Park, H. G. Ahn, 'Robust controller design with novel sliding surface', lEE Proceeding Control Theory Applications, Vol.146, no.3, 1999, pp.242-246
  7. S. K. Park, H. K. Ahn and M. C. Kim, 'Model Following Sliding Mode Control with Virtual States for Multiple Input System', Proceeding of the lASTED International Conference Systems and Control, 2001, pp.175-180
  8. V. I. Utkin, Sliding modes and their application in variable structure systems, Moscow, Mir Publishers, 1978
  9. U. Itkis, Control systems of variable structure JOHNWILLY & SONS, New York, 1976
  10. Kirk. D.E, Optimal control theory, Prentice-Hall, 1970