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

被引：0
|
作者：
Li Peng [1 ]
Ma Jianjun [1 ]
Geng Lina [1 ]
Zheng Zhiqiang [1 ]
机构：
[1] Natl Univ Def Technol, Coll Mech Engn & Automat, Changsha 410073, Hunan, Peoples R China
来源：
2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年
关键词：
Sliding Mode Control; MIMO Nonlinear System; Guaranteed Error Bounds; STABILIZATION; MANIPULATORS; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
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.
引用
收藏
页码：109 / 114
页数：6
相关论文
共 50 条
  • [31] A NEW ADAPTIVE SLIDING MODE CONTROL OF UNCERTAIN NONLINEAR SYSTEMS
    Liu, Zhitao
    Su, Hongye
    Pan, Shuwen
    ASIAN JOURNAL OF CONTROL, 2014, 16 (01) : 198 - 208
  • [32] Adaptive RCMAC sliding mode control for uncertain nonlinear systems
    Chih-Min Lin
    Chiu-Hsiung Chen
    Neural Computing & Applications, 2006, 15 : 253 - 267
  • [33] Sliding mode differentiator-based robust backstepping control of nonlinear uncertain system
    Massaoudi, Fatma
    Elleuch, Dorsaf
    Abid, Hafedh
    Damak, Tarak
    2019 8TH INTERNATIONAL CONFERENCE ON SYSTEMS AND CONTROL (ICSC'19), 2019, : 235 - 240
  • [34] Robust Adaptive Fuzzy Tracking Control for Uncertain MIMO Nonlinear Nonminimum Phase System
    Hu, Xiaoxiang
    Zhao, Yan
    Xu, Bin
    Hu, Changhua
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2020, 50 (06): : 2017 - 2028
  • [35] Robust output feedback adaptive sliding mode control for a class of uncertain nonlinear systems using robust adaptive fuzzy observer
    Kalat, A. Akbarzadeh
    Mokhtari, V.
    IRANIAN JOURNAL OF FUZZY SYSTEMS, 2021, 18 (01): : 171 - 183
  • [36] Adaptive Neuro Sliding Mode Control of Uncertain Nonlinear System with Dead Zone Input
    Xu, Zibin
    Ruan, Jian
    Min, Jianqin
    2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 4723 - 4726
  • [37] Novel Adaptive Neural Sliding Mode Control for Uncertain Nonlinear System with Disturbance Estimation
    Pham, Thiem V.
    Du Dao Huy
    INFORMATION SYSTEMS DESIGN AND INTELLIGENT APPLICATIONS, INDIA 2017, 2018, 672 : 137 - 148
  • [38] Adaptive quasi-sliding mode control for discrete nonlinear system with uncertain model
    Li, Y
    Zou, JX
    Zhang, XZ
    Zang, YY
    PROCEEDINGS OF THE 3RD WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-5, 2000, : 2987 - 2990
  • [39] A Discrete Adaptive Second Order Neuro Sliding Mode Control For Uncertain Nonlinear System
    Raja, Ben Mohamed
    Houda, Romdhane
    Khadija, Dehri
    Said, Nouri Ahmed
    2019 19TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA), 2019, : 518 - 523
  • [40] Smooth robust adaptive sliding mode control of manipulators with guaranteed transient performance
    Yao, B
    Tomizuka, M
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1996, 118 (04): : 764 - 775
12345