Journal article
Sliding mode learning control of non-minimum phase nonlinear systems
International Journal of Robust and Nonlinear Control, Vol.26(11), pp.2281-2298
2015
Abstract
In this paper, a novel robust sliding mode learning control scheme is developed for a class of non‐minimum phase nonlinear systems with uncertain dynamics. It is shown that the proposed sliding mode learning controller, designed based on the most recent information of the stability status of the closed‐loop system, is capable of adjusting the control signal to drive the sliding variable to reach the sliding surface in finite time and remain on it thereafter. The closed‐loop dynamics including both observable and non‐observable ones are then guaranteed to asymptotically converge to zero in the sliding mode. The developed learning control method possesses many appealing features including chattering‐free characteristic, strong robustness with respect to uncertainties. More importantly, the prior information of the bounds of uncertainties is no longer required in designing the controller. Numerical examples are presented in comparison with the conventional sliding mode control and backstepping control approaches to illustrate the effectiveness of the proposed control methodology.
Details
- Title
- Sliding mode learning control of non-minimum phase nonlinear systems
- Authors/Creators
- M.T. Do (Author/Creator) - Swinburne University of TechnologyZ. Man (Author/Creator) - Swinburne University of TechnologyJ. Jin (Author/Creator) - Swinburne University of TechnologyC. Zhang (Author/Creator) - Swinburne University of TechnologyJ. Zheng (Author/Creator) - Swinburne University of TechnologyH. Wang (Author/Creator) - Hefei University of Technology
- Publication Details
- International Journal of Robust and Nonlinear Control, Vol.26(11), pp.2281-2298
- Publisher
- Wiley
- Identifiers
- 991005544274207891
- Copyright
- © 2015 John Wiley & Sons, Ltd.
- Murdoch Affiliation
- Murdoch University
- Language
- English
- Resource Type
- Journal article
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- 4.29.104 Adaptive Control
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