Robust Adaptive Sliding Mode Control for Uncertain Nonlinear MIMO System with Guaranteed Error Bounds

摘要：

　　In this paper,a robust adaptive sliding mode controller is proposed for a class of uncertain nonlinear multi-input multi-output (MIMO) systems.The upper bounds of the uncertainties are not needed in the procedure of the controller design,and the controller is continuous and guarantees the tracking error can converge to a small residual set.Furthermore,the size of the tracking error at steady state can be specified a prior and guaranteed by choosing certain design parameters.Finally,a simulation study based on a two-link rigid robotic manipulator model is used to illustrate the effectiveness of the proposed controller.

关键词： Sliding Mode Control MIMO Nonlinear System Guaranteed Error Bounds

作者: LI Peng MA Jianjun GENG Lina ZHENG Zhiqiang

作者单位: College of Mechatronics Engineering and Automation,National University of Defense Technology,Changsha 410073,P. R. China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 109-114

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）