A study on the Novel Sliding Mode Controller with Uncertainty Adaptation

불확실성 추정을 갖는 새로운 슬라이딩 모드제어기의 설계

In this paper, a novel sliding mode control with uncertainty adaptation is produced by introducing a virtual state. Because upper bounds of the uncertainty is difficult to know, we estimate these upper bound by using the simple adaptation law and design the novel sliding mode controller. The nominal controller is used the optimal controller to minimize cost function.