Passivity-based Adaptive Integral Sliding Mode Control of Uncertain Nonlinear Systems

被引：4
|
作者：
Liu, Zhitao [1 ]
Su, Hongye [1 ]
Pan, Shuwen [1 ]
机构：
[1] Zhejiang Univ, Inst Cyber Syst & Control, State Key Lab Ind Control Technol, Hangzhou 310027, Zhejiang, Peoples R China
来源：
2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年
关键词：
Interconnection and damping assignment passivity-based control; Immersion and invariance; Integral sliding mode control; Nonlinear systems; ROBUST-CONTROL; FEEDBACK FORM; INTERCONNECTION; STABILIZATION;
D O I：
10.1109/WCICA.2010.5555064
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 deals with the stabilization problem of uncertain nonlinear systems by passivity-based adaptive integral sliding mode control. The systems may possess both parametric uncertainties and unknown nonlinear functions that may represent modeling errors and external disturbances. The proposed method first combines immersion and invariance adaptive control with integral sliding mode control, which preserves the advantages of the two methods, namely asymptotic stability of adaptive control in the presence of parametric uncertainties, and stronger robustness with integral sliding mode control for both parametric uncertainties and unknown bounded nonlinear functions.
引用
收藏
页码：3939 / 3944
页数：6
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