Design of Robust Adaptive Sliding Mode Controllers for Nonlinear Mismatched Systems

• Main Authors: Kuo-Ching Lin, 林國清
• Other Authors: Cheng, Chih-Chiang
• Format: Others
• Language: en_US
• Published: 2000
• Online Access: http://ndltd.ncl.edu.tw/handle/38285632640525202574

碩士 === 國立中山大學 === 電機工程學系研究所 === 88 === Abstract A simple design methodology of robust adaptive sliding m de utput tracking controllers for a class of MIMO nonlinear mismatched perturbed systems is presented in this thesis.First,the derivatives of tracking error �s dynamics are estimated in order t implement the designed sliding function. Then a robust tracking controller with a perturbation estimation scheme embedded is designed by using Lyapunov stability theorem.An adaptive control e ffrt embedded in the sliding m de controller is automatically as- signed by utilizing adaptive control technique,s that the information of the upper b und of the perturbation estimation error is not required.A modi fied first rder derivative estimator which is utilized in the perturba- tion estimation process is presented.The stability f the verall controlled system is als proved.Furthermore,the desired tracking accuracy can be in general achieved by adjusting the design parameters of the prop sed controller.One example is demonstrated for sh wing the feasibility f the proposed control scheme.