Model following control based on an adaptive sliding surface for a class of plants with unmatched parametric uncertainties

Author

Nonaka, Ken-ichiro ; Yamakita, Masaki ; Furuta, Katsuhisa

Author_Institution

Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan

Volume

3

fYear

1996

fDate

11-13 Dec 1996

Firstpage

3510

Abstract

In this paper, for a class of systems which is linear time invariant and single-input and state accessible with unmatched parametric uncertainties, a new model following control based on an adaptive sliding surface is presented. The tracking error converges to zero asymptotically by the proposed controller in the presence of such uncertainties. In addition, even though there are matching disturbances which have unknown upper bounds, finite time reaching to sliding surface can be achieved and then the performance of the system is invariant to matching disturbances on the sliding mode. Simulation results are also presented to show the strength of the presented method

Keywords

linear systems; model reference adaptive control systems; robust control; tracking; uncertain systems; variable structure systems; adaptive sliding surface; finite time reaching; linear time invariant system; matching disturbances; model following control; single-input system; tracking error; unmatched parametric uncertainties; Adaptive control; Control system synthesis; Ear; Informatics; Programmable control; Robust control; Robust stability; Sliding mode control; Uncertainty; Upper bound;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.573713

Filename

573713