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The Korean Institute of Electrical Engineers (대한전기학회)
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A New Robust Variable Structure Controller with Nonlinear Integral-Type Sliding Surface for Uncertain Systems with Mismatched Uncertainties and Disturbance

부정합조건 불확실성과 외란을 갖는 시스템을 위한 비선형 적분 슬라이딩 면을 갖는 새로운 강인한 적분 가변구조제어기

  • 이정훈 (경상대학교 공대 제어계측공학과)
  • Published : 2010.03.01
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Abstract

In this paper, a new robust variable structure controller based on a nonlinear integral type sliding surface is presented for the control of uncertain systems with mismatched uncertainties and disturbance. A nonlinear integral type sliding surface is suggested for removing the reaching phase. After its ideal sliding dynamics is obtained, the two design methods are presented. A corresponding control input is proposed to satisfy the closed loop stability in the sense of Lyapunov and the existence condition of the sliding mode on the nonlinear integral type sliding surface, which will be investigated in Theorem 1. Through a design example and simulation study, the usefulness of the proposed controller is verified.

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References

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