This correspondence proposes a systematic adaptive sliding-mode controller design for the robust control of nonlinear systems with uncertain parameters. An adaptation tuning approach without high-frequency switching is developed to deal with unknown but bounded system uncertainties. Tracking performance is guaranteed. System robustness, as well as stability, is proven by using the Lyapunov theory. The upper bounds of uncertainties are not required to be known in advance. Therefore, the proposed method can be effectively implemented. Experimental results demonstrate the effectiveness of the proposed control method.
Reduced equivalent systems have inherent closed-loop poles at the origin in the sliding mode for conventional sliding mode control (SMC). A systematic design strategy is developed for arbitrarily placing all SMC closed-loop poles. The speed control of a vertical takeoff and landing aircraft whose aerodynamic parameters vary considerably during flight is investigated. An outstanding output tracking performance and robustness against system parameter uncertainties and external disturbances are achieved.
In this paper, a novel adaptive PID with sliding mode control for the rotary inverted pendulum is proposed. The goal is to achieve system robustness against parameter variations and external disturbances. In this study, the three parameters of PID controller, proportional gain, integral gain, and derivative gain can be systematically obtained according to the adaptive law. Further reduction of the high frequency chattering in the controller is achieved by using the boundary layer technique. The proposed control method is applied to a rotary inverted pendulum control system. By using Lyapunov theorem, the stability and convergence of the proposed scheme is proven. Simulation results show that the chattering and the steady state error are eliminated and trajectory tracking is achieved effectively.
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