Dynamic adaptive backstepping and saturated proportional integral sliding mode control for uncertain nonlinear systems

被引：0
作者：
Huy Tung Le
Choon Young Lee
Sang Ryong Lee
机构：
[1] Kyungpook National University,School of Mechanical Engineering
来源：
International Journal of Precision Engineering and Manufacturing | 2010年 / 11卷
关键词：
Saturated proportional-integral function; Parameter estimation; Sliding surface; Backstepping; Parameter update law;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
An integrated algorithm that combines Dynamic Adaptive Backstepping (DAB), Sliding Mode Control (SMC), and a saturated proportional integral function (PI) is presented for the control of non-triangular nonlinear systems with unmatched uncertainties. Adaptive Backstepping is a recursive design methodology that uses of virtual functions as well as tuning functions, while sliding mode control is used to obtain more robustness towards disturbances and unmodeled dynamics. The main advantages of the PI function are the complete removal of chattering, a shorter transient period, and higher accuracy. A comparison of Dynamic Adaptive Backstepping Sliding Mode Control (DAB-SMC) and Dynamic Adaptive Backstepping Saturated Proportional Integral Sliding Mode Control (DAB-PISMC) is presented to show the effectiveness of the proposed algorithm
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页码：527 / 537
页数：10
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