Volume 11, Issue 3 (Journal of Control, V.11, N.3 Fall 2017)
JoC 2017, 11(3): 51-58 |
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Golestani M, Ebadollahi S, Smaeilzadeh S M. Robust Adaptive Control for a Class of Uncertain Nonlinear Systems: Integral Sliding Mode Control Approach
Mehdi Golestani, Saeid Ebadollahi, Seyed Majid Smaeilzadeh
. JoC 2017; 11 (3) :51-58
URL: http://joc.kntu.ac.ir/article-1-401-en.html
URL: http://joc.kntu.ac.ir/article-1-401-en.html
1- 1Young Researchers and Elite Club, Qazvin Branch, Islamic Azad University, Qazvin, Iran
2- Iran University of Science and Technology
2- Iran University of Science and Technology
Abstract: (24692 Views)
This paper investigates the problem of finite-time stabilization of a class of uncertain nonlinear systems and a controller is proposed based on combination of integral sliding mode control with finite-time state feedback. The proposed controller consists of two parts. One part rejects matched uncertainties and the other part provides finite time stability. An adaption mechanism is also employed to estimate unknown parameters of the system. The proposed control law guarantees finite-time convergence of the sliding variable in the presence of uncertainties and unknown parameters. By elimination of the reaching phase, in which the system states are quite sensitive to any uncertainties or disturbances, the robustness of the system is guaranteed throughout the entire response. Furthermore, the upper bound of disturbance and uncertainties is not required to be known in advance which makes the suggested controller more flexible in terms of implementation.
Keywords: Nonlinear control, robust adaptive control, integral sliding mode control, finite time state feedback.
Type of Article: Research paper |
Subject:
Special
Received: 2016/09/4 | Accepted: 2017/06/4 | Published: 2017/09/3
Received: 2016/09/4 | Accepted: 2017/06/4 | Published: 2017/09/3
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