Adaptive smooth control for nonlinear uncertain systems

Cho, Hancheol; Kerschen, Gaëtan; Oliveira, Tiago Roux

doi:10.1007/s11071-019-05446-z

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Article (Scientific journals)

Adaptive smooth control for nonlinear uncertain systems

Cho, Hancheol; Kerschen, Gaëtan; Oliveira, Tiago Roux

2020 • In Nonlinear Dynamics, 99 (4), p. 2819 - 2833

Peer reviewed

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https://hdl.handle.net/2268/323306

DOI
10.1007/s11071-019-05446-z

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Keywords :

Gain adaptation; Lyapunov stability; Nonlinear uncertain systems; Sliding mode control

Abstract :

[en] This paper presents an adaptive smooth controller for a class of nonlinear dynamical systems in the presence of bounded uncertainties with unknown bounds. Motivated by the concept of sliding mode control, a continuous control law that drives the sliding variable to a user-specified small domain in a finite time is developed. Also, an adaptation law is obtained to ensure that the gain update is performed in real time and the error is always bounded within a desired range without a priori knowledge of the uncertainties. Only the magnitude of the control input is required for online gain adaptation, and hence, the gain update is readily implemented in real time, which greatly eases the application of the suggested algorithm to real-world systems. In addition, by adding nonlinear terms in the sliding manifold, the reaching phase vanishes and the transient performance of the controlled system is considerably improved. Numerical examples serve to demonstrate the effectiveness and the robustness of the control methodology proposed herein.

Disciplines :

Mechanical engineering

Author, co-author :

Cho, Hancheol ; Department of Mechanical Engineering, Bradley University, Peoria, United States

Kerschen, Gaëtan ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire de structures et systèmes spatiaux

Oliveira, Tiago Roux ; Department of Electronics and Telecommunication Engineering, State University of Rio de Janeiro, Rio de Janeiro, Brazil

Language :

English

Title :

Adaptive smooth control for nonlinear uncertain systems

Publication date :

March 2020

Journal title :

Nonlinear Dynamics

ISSN :

0924-090X

eISSN :

1573-269X

Publisher :

Springer

Volume :

Issue :

Pages :

2819 - 2833

Peer reviewed :

Peer reviewed

Additional URL :

http://link.springer.com/content/pdf/10.1007/s11071-019-05446-z.pdf

Available on ORBi :

since 11 October 2024

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