제어로봇시스템학회:학술대회논문집
- 1991.10b
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- Pages.1924-1929
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- 1991
Sliding mode control with adaptive VSS observer
- Chen, Yi-Feng (Department of Electrical and Electronics Engineering, Chiba University, 1-33 Yayoi-cho, Chiba 260, Japan) ;
- Tsutomu Mita (Department of Electrical and Electronics Engineering, Chiba University, 1-33 Yayoi-cho, Chiba 260, Japan)
- Published : 1991.10.01
Abstract
The conventional sliding mode control and variable structure control (VSC) of nonlinear uncertain system are well known for their robust property and simplity of control law. However, the use of them is only pardonable on the assumption that the upper-bound of parameter variation or nonlinearity is known and that the complete information about state is available. Though the former has been solved with adaptive robust control theory recently, the latter seems not to be solved. In this paper, we try to solve this problem using the technique of VSS adaptive robust control theory. That is, we propose a VSS adaptive observer and a sliding mode control incorporated with this observer. We can prove the robust stability of the closed system applying the Lyapunov's second method.
Keywords