Sliding mode control with self-turning law for uncertain nonlinear systems with time-delay and external disturbances

被引：0

作者：

Zhen, Ran ^{[1
,2
]}

Chen, Jinyong ^{[1
]}

Wu, Xueli ^{[1
,3
]}

Zhu, Quanmin ^{[2
]}

Nouri, Hassan ^{[2
]}

Wu, Xiaojing ^{[1
]}

Zhang, Jianhua ^{[1
]}

机构：

[1] Department of Electrical Engineering, Hebei University of Science and Technology, Shijiazhuang, 050018

[2] Department of Engineering Design and Mathematics, University of the West of England, Bristol, BS16 1QY, Frenchay Campus, Coldharbour Lane

[3] Institute of Electrical Engineering, Yanshan University, Qinhuangdao, 06604

来源：

Lecture Notes in Control and Information Sciences | 2014年 / 452卷

关键词：

Adaptive control; Boundary layer; Lyapunov method; Sliding mode control;

D O I：

10.1007/978-3-642-36385-6_8

中图分类号：

学科分类号：

摘要：

This study proposes a novel sliding mode control with self-turning law for nonlinear systems with time-delay and external disturbances possessing uncertain parameters. The adjustable control gain and a bipolar sigmoid function are online tuned to force the tracking error to approach zero. The proposed control scheme provides good transient and steady-state performance. Moreover as the proposed controller, the chatting phenomenon can be avoided and the problem of time-delay and external disturbances are solved for a class of nonlinear systems. The closed-loop control system stability is proved to use the Lyapunov method. Steady-state system performance and chattering are considerably improved. Numerical simulation results are given to illustrate the effectiveness of the proposed procedure. © Springer-Verlag Berlin Heidelberg 2014.

引用

页码：159 / 169

页数：10

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