Design of Model Reference Adaptive Sliding Mode Tracking Controllers for Mismatched Uncertain Dynamic Systems
作者单位：Department of Electrical EngineeringNational Sun Yat-Sen UniversityKaohsiungTaiwan804 Departmem of Managemem Information SystemFar East UniversityHsin-ShihTainan County 744Taiwan
会议名称：《2009中国控制与决策会议》
会议日期：2009年
学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化]
基 金：the National Science Council under Grant NSC 96-2221-E-110-094
关 键 词：Sliding Mode Control Adaptive Control Mismatched Perturbations Lyapunov stability theorem
摘 要：正Based on the Lyapunov stability theorem,a model reference adaptive sliding mode control scheme is proposed in this paper for a class of multi-input multi-output（MIMO） dynamic systems with mismatched model uncertainties and external disturbances in order to solve robust tracking *** this method adaptive mechanisms are employed both in sliding surface function and control effort so that once the dynamics of controlled system enter the designated sliding surface,the trajectories of tracking errors can achieve asymptotic stability even if the mismatched perturbations exist. In addition,with adaptive mechanisms embedded in the proposed control scheme,the controller is able to adapt the unknown upper bound of perturbations without requiring the information of upper bound of perturbations.A numerical example is given for demonstrating the feasibility of the proposed control scheme.