An Adaptive Quasi-Sliding Mode Control without Chattering
作者单位：Key Laboratory of Systems and ControlAcademy of Mathematics and Systems ScienceCAS School of Mathematical SciencesUniversity of Chinese Academy of Sciences
会议名称：《第37届中国控制会议》
会议日期：2018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：supported by the National Natural Science Foundation of China under Grants 61422308 and 11688101
关 键 词：Adaptive control Sliding mode control Chattering problem Sigmoid function High-frequency gain
摘 要：The main problem hindering the engineering application of the conventional sliding mode control（CSMC） is the well-known chattering *** work investigates how to design a chattering-free adaptive sliding mode controller for a class of nth-order nonlinear uncertain *** remove the undesired chattering of the CSMC method,a novel continuous sigmoid function has been introduced to generate the quasi-sliding mode process instead of using the discontinuous sign *** the same time,an effective adaptive control gain is designed by using the same sigmoid *** with the existing works on the adaptive sliding mode control design,the adaptive mechanism proposed in this paper can effectively relax the restrictions on the prior information of the system *** particular,the designed parameters and the adaptive control gain can characterize the admissible boundary of the high-frequency gain uncertainty of the control input in real *** refer this approach as an adaptive quasi-sliding mode control（AQSMC）.The stability analysis of the AQSMC method has also been provided with the help of Lyapunov ***,some numerical simulation results are presented to demonstrate its effectiveness and superiority.