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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Sliding Mode Control with Uncertainty Adaptation for Uncertain Input-Delay Systems

시간지연 시스템에서의 불확실성 추정을 갖는 슬라이딩 모드제어

  • Roh, Young-Hoon (The Digital Appliance Research Center of LG Electronics) ;
  • Oh, Jun-Ho (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • 노영훈 (LG전자 디지털 어플라이언스 연구소) ;
  • 오준호 (한국과학기술원 기계공학과)
  • Published : 2000.11.01
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Abstract

This paper deals with a sliding mode control with uncertainty adaptation for the robust stabilization of input-delay systems with unknown uncertainties. A sliding surface including a state predictor is employed to compensate for the effect of the input delay. The proposed method does not need a priori knowledge of upper bounds on the norm of uncertainties, but estimates those upper bounds by adaptation laws based on the sliding surface. Then, a robust control law with the uncertainty adaptation is derived to ensure the existence of the sliding mode. A numerical example is given to illustrate the design procedure.

Keywords

References

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