Design of Adaptive Sliding Mode Controllers for Mismatched Perturbed Systems with Application to Underactuated Systems
作者单位：Department of Electrical Engineering Sun Yat-Sen University
会议名称：《第36届中国控制会议》
会议届次：36
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 071101[理学-系统理论] 0811[工学-控制科学与工程] 0701[理学-数学]
关 键 词：adaptive sliding mode control underactuated systems mismatched perturbations Lyapunov stability theorem linear matrix inequality
摘 要：A methodology of designing adaptive sliding mode controllers for a class of nonlinear systems with matched and mismatched perturbations is proposed in this paper. Firstly, A specific designed sliding surface function is presented, and the controller with adaptive mechanisms embedded is also designed in accordance with the designated sliding surface ***, the coefficients of designated sliding surface function are determined by using Lyapunov stability theorem and linear matrix inequality（LMI） optimization technique. Not only the proposed control scheme can drive the trajectories of the controlled systems into the designed sliding surface within a finite time, but also it is able to suppress the mismatched perturbations when the controlled systems are in the sliding mode, and guarantee asymptotic stability. Furthermore, the proposed control scheme can be directly applied to a class of underactuated systems. A numerical example is given for demonstrating the feasibility of the proposed control scheme.