Title :
Adaptive sliding mode control with smooth switching gain
Author :
Jiang Zhu ; Khayati, Karim
Author_Institution :
Dept. of Mech. & Aerosp. Eng., R. Mil. Coll. of Canada, Kingston, ON, Canada
Abstract :
This paper proposes an alternative approach to adaptive sliding mode controller (ASMC) design for nonlinear systems with uncertainties of unknown bounds. A smooth adaptation tuning approach is developed to enhance the accuracy and suppress the chattering phenomenon without overestimation of the uncertainty magnitude. The robustness is proven using the Lyapunov stability criterion. Numerical simulation results are performed to demonstrate the effectiveness of the proposed algorithm.
Keywords :
Lyapunov methods; adaptive control; control system synthesis; gain control; nonlinear control systems; numerical analysis; robust control; variable structure systems; ASMC design; Lyapunov stability criterion; adaptive sliding mode controller design; chattering phenomenon; nonlinear system; numerical simulation; smooth adaptation tuning approach; smooth switching gain; uncertainty magnitude overestimation; Accuracy; Algorithm design and analysis; Sliding mode control; Switches; Trajectory; Uncertainty;
Conference_Titel :
Electrical and Computer Engineering (CCECE), 2014 IEEE 27th Canadian Conference on
Conference_Location :
Toronto, ON
Print_ISBN :
978-1-4799-3099-9
DOI :
10.1109/CCECE.2014.6901067
