제어로봇시스템학회:학술대회논문집
- 2000.10a
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- Pages.341-341
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- 2000
Sliding Mode Control for Time-delay System using Virtual State
가상 상태를 이용한 시간 지연 시스템의 슬라이딩 모드 제어
Abstract
This paper presents a sliding mode control(SMC) design method for single input linear systems with uncertainties and time delay in the state. We define a sliding surface for the augmented system with a virtual state which is defined from the nominal system. We make a virtual state from optimal control input using LOR(Linear Quadratic Regulator) and the states of the nominal system. We construct a controller that combines SMC with optimal controller. The proposed sliding mode controller stabilizes on the overall closed-loop system.