제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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- Pages.1300-1305
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- 1990
A VSS observer-based sliding mode control for uncertain systems
- Watanabe, Keigo (Department of Mechanical Engineering, Faculty of Science and Engineering, Saga Univ.) ;
- Jin, Sang-Ho (Department of Mechanical Engineering, Faculty of Science and Engineering, Saga Univ.) ;
- Kimura, Ichiro (Department of Mechanical Engineering, Faculty of Science and Engineering, Saga Univ.)
- 발행 : 1990.10.01
초록
A VSS observer-based sliding mode control is described for continuous-time systems with uncertain nonlinear elements, in which the Euclidean norm of unknown element is bounded by a known value. For a case of complete state information, we first derive a sliding mode controller consisting of three parts: a linear state feedback control, an equivalent input and a min-niax control. It is then shown that the present attractiveness condition is simpler than that for a case without using the concept of equivalent input. We next design a VSS observer as a completely dual form to the sliding mode controller. Finally, we discuss a cas of incomplete state information by applying the VSS observer.
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