Title :
Passivity-based adaptive integral sliding mode control of uncertain nonlinear systems
Author :
Liu, Zhitao ; Su, Hongye ; Pan, Shuwen
Author_Institution :
State Key Lab. of Ind. Control Technol., Zhejiang Univ., Hangzhou, China
Abstract :
This paper deals with the stabilization problem of uncertain nonlinear systems by passivity-based adaptive integral sliding mode control. The systems may possess both parametric uncertainties and unknown nonlinear functions that may represent modeling errors and external disturbances. The proposed method first combines immersion and invariance adaptive control with integral sliding mode control, which preserves the advantages of the two methods, namely asymptotic stability of adaptive control in the presence of parametric uncertainties, and stronger robustness with integral sliding mode control for both parametric uncertainties and unknown bounded nonlinear functions.
Keywords :
adaptive control; asymptotic stability; control system synthesis; nonlinear control systems; robust control; uncertain systems; variable structure systems; asymptotic stability; external disturbance; immersion adaptive control; invariance adaptive control; modeling error; parametric uncertainty; passivity-based adaptive integral sliding mode control; robustness; stabilization problem; systematic design procedure; uncertain nonlinear system; unknown nonlinear functions; Adaptive control; Damping; Equations; Nonlinear systems; Sliding mode control; Uncertainty; Immersion and invariance; Integral sliding mode control; Interconnection and damping assignment passivity-based control; Nonlinear systems;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5555064
