제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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- Pages.267-270
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- 1994
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)
- 발행 : 1994.10.01
초록
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.
키워드