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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Sliding Mode Control Using the Lower Bound of Control Gain

제어이득의 하한을 이용한 새로운 슬라이딩 모드제어

  • 유병국 (한려대학교 멀티미디어정보통신공학과)
  • Published : 2003.09.01
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Abstract

A new sliding mode control method based on the lower bound of control gain is presented. Although the magnitube of the proposed control input is larger than that of the conventional control input using both lower and upper bounds, the positive-negative exchanging chattering is reduced and reaching mode is shorter. Because the proposed scheme needs only the lower bound of control gain, it is applicable to the system whose upper bound of control gain is doubtful to determine such as the control gain depends on the system states. It is proved that the proposed control method guarantees the sliding condition. The analysis of differences between the conventional method and the proposed method is given. The validity of the proposed control strategy is shown through a 2nd-order nonlinear system example.

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References

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