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
收藏
页码：159 / 169
页数：10
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