Decentralized Adaptive Terminal Sliding Mode Control for Euler-Lagrange Mechanical Systems

• Main Authors: Chen, Tse-Han, 陳澤瀚
• Other Authors: Cheng, Cheng-Fa
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/96dhz5

碩士 === 國立臺灣海洋大學 === 通訊與導航工程學系 === 106 === In this thesis, the stabilizability problems of Euler-Lagrange mechanical systems by decentralized adaptive control is addressed. We first develop the control system of Euler-Lagrange mechanical systems with decentralized adaptive control for high-order interconnections to adjust and estimate the unknown structure bounds. Then a new decentralized adaptation scheme with FTSM (fast terminal sliding mode) is proposed to solve the tracking problem. In order to solve the problem of unknown system structure, the FTSM is used to design the estimation algorithm and the adaptive law to estimate the unknown parameters. Based on Lyapunov's theory, Young’s and Chebyshev inequalities are used to prove the existence of the sliding mode, and then the sliding mode is used to ensure that the tracking errors of the Euler-Lagrange mechanical system is ultimately bounded.