Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Adaptive sliding mode control with self-tuning the boundary layer thickness

자기동조 경계층 범위를 갖는 적응 슬라이딩모드 제어

  • 박재삼 (시립인천전문대학 전자공학과)
  • Published : 2000.01.01
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Abstract

In this paper, three adaptive sliding mode control algorithms, which self-tune both the sliding mode gain and the boundary layer thickness, are proposed. The first algorithm uses a gain adaptation rule is combined with the boundary layer thickness adaptatioin rule to satisfy the sliding condition. In the third algorithm, the computation burden of the second algorithm is reduced further, and therefore no extra cost is required for real-time implementation. Due to the mixed sliding mode gain and the boundary layer thickness adaptation scheme, the tracking error and the chattering of the control input can be reduced greatly.

Keywords

References

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