제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Adaptive sliding-mode tracking control in the presence of unmodeled dynamics

  • Cho, Seung-Ho (Associate Professor, Department of Mechanical Engineering, Hong-Ik University, Mapo-Ku, Seoul 121-791, KOREA)
  • Published : 1994.10.01
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Abstract

To increase the robustness of tile feedforward tracking control system, a new discrete time sliding function has been defined and utilized for the formulation of control law, In adaptive case the robustness is achieved by using both a normalized gradient algorithm with deadzone and a sliding function-based nonlinear feedback, while in nonadaptive case by using only a sliding function-based nonlinear feedback.

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