Adaptive second-order sliding mode control: A unified method

被引：6
|
作者：
Wang, Zheng [1 ,2 ]
Yuan, Jianping [1 ,2 ]
Pan, Yanpeng [3 ]
机构：
[1] Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Xian, Shaanxi, Peoples R China
[2] Northwestern Polytech Univ, Sch Astronaut, Xian, Shaanxi, Peoples R China
[3] China Acad Launch Vehicle Technol, Beijing, Peoples R China
来源：
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL | 2018年 / 40卷 / 06期
基金：
中国国家自然科学基金;
关键词：
Adaptive control; second-order sliding modes; robust control; nonlinear control; finite time convergence; ORDER;
D O I：
10.1177/0142331217694683
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper develops a unified adaptive second order sliding mode (ASOSM) control method. By using the proposed control structure, the upper bounds of uncertainties are not required, the over-estimation of the control gains are avoided, and the chattering of the conventional sliding mode controllers can be attenuated. It should be noted that the adaptive gains are obtained based on the switching function and its derivative; as a result, the gains keep updating before and after the practical sliding mode is established. Meanwhile, the finite time convergence is proved based on a quadratic Lyapunov approach. Finally, to illustrate the performance of the presented method, an ASOSM controller is designed for a pendulum system and several simulations are performed.
引用
收藏
页码：1927 / 1935
页数：9
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