文章基本信息

标题：Adaptive Higher Order Sliding Mode Control for Nonlinear Uncertain Systems
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作者：Satnesh Singh ; Priyank Srivastava ; S. Janardhanan 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：1
页码：341-346
DOI：10.1016/j.ifacol.2018.05.044
语种：English
出版社：Elsevier
摘要：AbstractSliding mode control (SMC) is used for the control of uncertain systems with known uncertainty bounds. But most of the times, the uncertainty bounds are not known. Adaptive SMC (ASMC) is used in these cases for the control of unknown but bounded systems. But ASMC, like the conventional SMC, suffers from chattering. To overcome this drawback, we have proposed an improved control algorithm which uses the concept of adaptive higher-order SMC (AHOSMC). In the proposed algorithm, we have designed the first derivative of the control taking it as the virtual control rather than the actual control itself. The gain-adaptation law does not overestimate uncertainties. The proposed technique has been validated using simulation results.
关键词：KeywordsAdaptive higher-order sliding mode controlNonlinear systemsTrackingChattering eliminationAdaptive switching gain law