Adaptive Sliding Mode Controller for a Class of Nonlinear System with Uncertainty
In this paper, a novel robust nonlinear sliding mode controller for a class of nonlinear system with parameter uncertainty and disturbance is proposed. The controller is designed in a backstepping manner, proportionalintegral-derivative(PID) stabilizing signal of the virtual error is introduced in the design procedure. First, according to the backstepping approach, series Lyapunov functions are constructed step by step, the adaptive law of damping coefficient is given in the second step, and finally, a novel sliding surface is designed. The whole control law is obtained by applying the sliding mode control theory, so the disturbance is attenuated. To validate the control law, some simulations were carried on, the results showed that the proposed control method is able to achieve a quite satisfactory control effect.
Xiangyang Yu Haipeng Nan Luochang Wu
School of Water Resource & Hydro-Electric Engineering Xi’an University of Technology Shaanxi,China 710048
国际会议
The 2010 International Conference on Intelligent Systems and Knowledge Engineering(第五届智能系统与知识工程国际会议)
杭州
英文
46-51
2010-11-15（万方平台首次上网日期，不代表论文的发表时间）