TY - JOUR
T1 - Robust sliding model control-based adaptive tracker for a class of nonlinear systems with input nonlinearities and uncertainties
AU - Fang, Jiunn Shiou
AU - Tsai, Jason Sheng Hong
AU - Yan, Jun Juh
AU - Guo, Shu Mei
N1 - Funding Information:
The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by the Ministry of Science and Technology, Taiwan, under MOST 108-2221-E-006-213-MY3 and MOST-109-2221-E-167-017.
PY - 2020
Y1 - 2020
N2 - A robust adaptive tracker is newly proposed for a class of nonlinear systems with input nonlinearities and uncertainties. Because the upper bounds of input nonlinearities and uncertainties are difficult to be acquired, the adaptive control integrated with sliding mode control (SMC) and radial basis function neural network (RBFNN) are utilized to cope with these undesired problems and effectively complete the robust tracker design. The main contributions are concluded as follows: (1) new sufficient conditions are obtained such that the proposed adaptive control laws can avoid overestimation; (2) A smooth (Formula presented.) function is introduced to eliminate the undesired chattering phenomenon in the traditional SMC systems; (3) A robust tracker is proposed such that the controlled system outputs can robustly track the pre-specified trajectories directly, even when subjected to unknown input nonlinearities and uncertainties. Finally, the numerical simulation results are illustrated to verify the proposed approach.
AB - A robust adaptive tracker is newly proposed for a class of nonlinear systems with input nonlinearities and uncertainties. Because the upper bounds of input nonlinearities and uncertainties are difficult to be acquired, the adaptive control integrated with sliding mode control (SMC) and radial basis function neural network (RBFNN) are utilized to cope with these undesired problems and effectively complete the robust tracker design. The main contributions are concluded as follows: (1) new sufficient conditions are obtained such that the proposed adaptive control laws can avoid overestimation; (2) A smooth (Formula presented.) function is introduced to eliminate the undesired chattering phenomenon in the traditional SMC systems; (3) A robust tracker is proposed such that the controlled system outputs can robustly track the pre-specified trajectories directly, even when subjected to unknown input nonlinearities and uncertainties. Finally, the numerical simulation results are illustrated to verify the proposed approach.
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U2 - 10.1177/0142331220976114
DO - 10.1177/0142331220976114
M3 - Article
AN - SCOPUS:85097525514
JO - Transactions of the Institute of Measurement and Control
JF - Transactions of the Institute of Measurement and Control
SN - 0142-3312
ER -