Adaptive terminal sliding mode control for high-order nonlinear dynamic systems
Adaptive terminal sliding mode control for high-order nonlinear dynamic systems作者机构：Institute of Advanced Process Control Zhejiang University Hangzhou 310027 Institute of Advanced Process Control Zhejiang University China National Lab. of Industrial Control Technology
出 版 物：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 (浙江大学学报A辑(应用物理与工程)(英文版))
年 卷 期：2003年第1期
页 面：59-64页
核心收录：
主 题：Terminal sliding mode control Finite time convergence Adaptive laws
摘 要：An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can be used to develop a new terminal sliding mode for high order nonlinear systems. A terminal SMC controller based on Lyapunov theory is designed to force the state variables of the closed loop system to reach and remain on the terminal sliding mode, so that the output tracking error then converges to zero in finite time which can be set arbitrarily. An adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated. It is also shown that the stability of the closed loop system can be guaranteed with the proposed control strategy. The simulation of a numerical example is provided to show the effectiveness of the new method.
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