A sliding mode controller with improved adaptation laws for the upper bounds on the norm of uncertainties

Automatica

Volumn 34, Issue 12, 1998, Pages 1657-1661

  Wheeler, Graham ^a   Su, Chun Yi ^b   Stepanenko, Yury ^a  

^a UNIVERSITY OF VICTORIA   (Canada)

^b Gina Cody School of Engineering and Computer Science   (Canada)

Author keywords

Adaptation; Robustness; Sliding mode control; Stability; Uncertainty; Variable structure control

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; FUNCTIONS; MATHEMATICAL MODELS; MATRIX ALGEBRA; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY; UNCERTAIN SYSTEMS;

ADAPTATION LAWS; SLIDING MODE CONTROLLER; UPPER BOUNDS; VARIABLE STRUCTURE CONTROL;

ADAPTIVE CONTROL SYSTEMS;

EID: 0032302350     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0005-1098(98)80024-1     Document Type: Article

References (12)

1. Chen, Y. and T. Mita (1993). Adaptive robust sliding mode control. Trans. Inst. Electrical Engrs. Japan, 113-C.
2. Corless, M. J. and G. Leitmann (1981). Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic system. IEEE Trans. Automat. Control, 26, 1139-1144.
3. Ioannou, P. A. and P. V. Kokotovic (1984). Instability analysis and and the improvement of robustness of adaptive control. Automatica, 20, 583-594.
4. Ioannou, P. A. and K. S. Tsakalis (1986). A robust direct adaptive controller. IEEE Trans. Automat. Control, 31, 1033-1043.
5. Leung, T. P. Q.-J. Zhou and C.-Y. Su (1991). An adaptive variable structure model following control design for robot manipulators. IEEE Trans. Automat. Control, 36, 347-353.
6. Parra-Vega, V., Y.-H. Liu and S. Arimoto (1994). Variable structure robot control undergoing chattering attenuation: Adaptive and non-adaptive cases. Proc. 1994 IEEE Int. Conf. on Robotics and Automation, pp. 1824-1829.
7. Slotine, J. J. E. and S. S. Sastry (1983). Tracking control of nonlinear system using sliding surface, with application to robot manipulators. Int. J. Control, 38, 465-492.
8. Su, C.-Y. and T. P. Leung (1993). A sliding mode controller with bound estimation for robot manipulators. IEEE Trans. Robot. Automat., 9, 208-214.
9. Utkin, V. I. (1978). Sliding Modes and Their Applications. Mir, Moscow.
10. Utkin, V. I. and K. D. Young (1978). Methods for construction of discontinuity planes in multidimensional variable structure systems. Autom. Remote Control, 39, 1466-1470.
11. Walcott, B. L. and S. H. Zak (1989). Combined observer-controller synthesis for uncertain dynamical systems with applications. IEEE Trans. Systems Man Cybernet., 18, 367-371.
12. Yoo, D. S. and M. J. Chung (1992). A variable structure control with simple adaptation laws for upper bounds on the norm of the uncertainties. IEEE Trans. Automat. Control, 37, 159-165.