Observer-Based Adaptive Sliding Mode Control for Uncertain Systems with Dead-Zone Input

具死區輸入不確定系統之基于觀測器適應順滑模態控制

郭昱廷(Yu-Ting Kuo) ； 康耀鴻(Yaw-Hong Kang) ； 張國明(Kuo-Ming Chang) ； 劉永田(Yung-Tien Liu)

《中國機械工程學刊》 34卷3期 (2013/06) Pp. 221-228

摘要

本文對具有未知死區輸入及不確定擾動的非線性系統，提出基于觀測器之適應順滑模態控制設計方法。依據擴張狀態觀測器、順滑模態控制與適應反死區等理論，在不需要所有系統狀態皆可獲得之下，設計出一種基于觀測器之強健適應順滑模態控制方案。所提出之控制方法能確保控制系統的全局穩定性及完成在不確定擾動和未知系統非線性函數下令人滿意地追蹤控制目標。最後，一些模擬結果被給以驗證控制性能的有效性。

並列摘要

In this paper, an observer-based adaptive sliding mode control is proposed to address the tracking control objective for the nonlinear system preceded by an unknown dead-zone and with uncertain perturbation and immeasurable system state. Based on the extension state observer, sliding mode control, and adaptive dead-zone inverse techniques, a robust observer-based adaptive sliding mode control scheme is developed without the requirement that all the system states are available in advance. The proposed control scheme can ensure global stability of the controlled system and achieve the tracking control objective satisfactorily under the conditions of uncertain perturbation and unknown system nonlinear function. Finally, some simulations are given to illustrate and validate the effectiveness of this control approach.

並列關鍵字

Extension state observer ； adaptive control ； sliding mode control ； dead-zone