Title :
Performance tuning of sliding mode controllers: structural analysis approach
Author :
Kim, Bong Keun ; Chung, Wan Kyun ; Suh, Il Hong
Author_Institution :
Robotics & Bio-Mechatronics Lab., Pohang Inst. of Sci. & Technol., South Korea
Abstract :
In this paper, a structural design method of sliding mode controller, which makes it possible to predict the performance of the closed loop system, is proposed. First, a general sliding mode controller is derived and a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, robust internal-loop compensator(RIC) is proposed. Next, using the structural characteristics of the RIC, disturbance attenuation property is analyzed and the performance of the closed-loop system of sliding mode controller is predicted. The proposed performance predictable design of sliding mode controller provides a systematic approach to the problem of robust stability and performance specifications in the presence of uncertainty
Keywords :
Lyapunov methods; closed loop systems; compensation; control system synthesis; model reference adaptive control systems; stability; uncertainty handling; variable structure systems; Lyapunov redesign; RIC; closed-loop system; disturbance; disturbance attenuation; internal model following control; performance prediction; performance tuning; robust internal-loop compensator; robust stability; sliding mode controllers; stabilizing control input; structural analysis approach; structural design method; uncertainty; Attenuation; Closed loop systems; Control systems; Design methodology; Optimal control; Performance analysis; Robust control; Robust stability; Sliding mode control; Uncertainty;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945940
