Design of Model Reference Adaptive Sliding Mode Tracking Controllers for Mismatched Uncertain Dynamic Systems

• Main Authors: Hung-an Chen, 陳宏安
• Other Authors: Chih-chiang Cheng
• Format: Others
• Language: en_US
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/30407376067304238573

碩士 === 國立中山大學 === 電機工程學系研究所 === 92 === Based on the Lyapunov stability theorem, a model reference adaptive sliding mode control scheme is proposed in this thesis for a class of multi-input multi-output (MIMO) dynamic systems with mismatched model uncertainties and external disturbances in order to solve robust tracking problems. In this method, the adaptive mechanism is employed both in sliding surface function and control effort so that once the dynamics of the controlled system enters the sliding surface, the state trajectories of system can achieve asymptotical stability even if the mismatched perturbations exist. In addition, with an adaptive mechanism embedded in the proposed control scheme, the controller will asymptotically adapt the unknown upper bound of perturbations so that the information of upper bound of perturbations is not required. A numerical example and a practical experiment are given for demonstrating the feasibility of the proposed control scheme.