Design of an adaptive chattering avoidance global sliding mode tracker for uncertain non-linear time-varying systems

被引：55

作者：

Mobayen S. ^{[1
]}

Tchier F. ^{[2
]}

机构：

[1] Department of Electrical Engineering, Faculty of Engineering, University of Zanjan, Zanjan

[2] Department of Mathematics, King Saud University, PO Box 22452, Riyadh

来源：

Transactions of the Institute of Measurement and Control | 2017年 / 39卷 / 10期

关键词：

Chattering avoidance; global sliding mode control; non-linear systems; online adaptation; tracking performance;

D O I：

10.1177/0142331216644046

中图分类号：

学科分类号：

摘要：

In this paper, a novel adaptive global sliding mode control technique is suggested for the tracking control of uncertain and non-linear time-varying systems. The proposed scheme composed of a global sliding mode control structure to eliminate reaching mode and an adaptive tracker to construct the auxiliary control term for eliminating the impacts of unwanted perturbations. Using the Lyapunov direct method, the tracking control of the non-linear system is guaranteed. Moreover, superior position tracking performance is obtained, the control effort is considerably decreased and the chattering phenomenon is removed. Furthermore, using adaptation laws, information about the upper bounds of the system perturbations is not required. To indicate the effectiveness of the suggested scheme, three simulation examples are presented. Simulation results demonstrate the superiority and capability of the offered control law to improve the transient performance of a closed-loop system using online adaptive parameters. © 2017, © The Author(s) 2017.

引用

页码：1547 / 1558

页数：11

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