Abstract
SummaryThis paper presents an adaptive terminal sliding-function controller approach for controlling a class of nonlinear multivariable systems with uncertainty. An appropriate terminal sliding function (TSF) is designed and then applied to the control law. Based on the Lyapunov stability theory, the adaptive terminal sliding-function controller for nonlinear multivariable systems guarantees that the TSF is asymptotically convergent. Different from classical terminal sliding mode control, which uses a discontinuous switching control law, the TSF control uses a continuous TSF and thus avoids the chattering problem. The simulation results demonstrate that the proposed method achieves satisfactory stability.
Original language | English |
---|---|
Pages (from-to) | 937-948 |
Number of pages | 12 |
Journal | International Journal of Robust and Nonlinear Control |
Volume | 25 |
Issue number | 6 |
DOIs | |
Publication status | Published - 2015 Apr 1 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- General Chemical Engineering
- Biomedical Engineering
- Aerospace Engineering
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering