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A New Robust Variable Structure Controller for Uncertain Affine Nonlinear Systems with Mismatched Uncertainties

부정합조건 불확실성을 갖는 비선형 시스템을 위한 새로운 강인한 가변구조제어기

  • 이정훈 (ERI, 경상대학교 공대 전기전자공학부 제어계측공학과)
  • Received : 2009.11.03
  • Accepted : 2010.02.16
  • Published : 2010.05.01

Abstract

In this paper, a systematic design of a new robust nonlinear variable structure controller based on state dependent nonlinear form is presented for the control of uncertain affine nonlinear systems with mismatched uncertainties and matched disturbance. After an affine uncertain nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a new robust nonlinear variable structure controller is presented. To be linear in the closed loop resultant dynamics, the linear sliding surface is applied. A corresponding control input is proposed to satisfy the closed loop exponential stability and the existence condition of the sliding mode on the linear sliding surface, which will be investigated in Theorem 1. Through a design example and simulation study, the usefulness of the proposed controller is verified.

Keywords

References

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