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Observer-based adaptive sliding mode control for robust tracking and model following

  • Ming-Chang PaiEmail author
Regular Papers Control Theory

Abstract

This paper presents a methodological approach to design an observer-based adaptive sliding mode control to realize the problem of robust tracking and modeling following for a class of uncertain linear systems. Only partial information of the system states is known. Based on Lyapunov stability theorem, it will be shown that the proposed scheme guarantees the stability of closed-loop system and achieves zero-tracking error in the presence of parameter uncertainties and external disturbances. The proposed observer-based adaptive sliding mode control scheme can be implemented without requiring a priori knowledge of upper bounds on the norm of the uncertainties and external disturbances. This scheme assures robustness against system uncertainties and disturbances. Both the theoretical analysis and illustrative example demonstrate the validity of the proposed scheme.

Keywords

Lyapunov stability theorem model following observer-based sliding mode control tracking error 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Department of Automation EngineeringNan Kai University of TechnologyTsao-Tun, NantouTaiwan, R. O. C.

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