Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Eigenstructure Assigned Sliding Mode Control for Uncertain System

불확실 시스템을 고유구조 지정 슬라이딩 모드 제어

  • 전경한 (경북대학교 전자공학과) ;
  • 김가규 (한국전자통신연구원 컴퓨터소프트웨어연구소) ;
  • 전해진 (경북대학교 전자공학과) ;
  • 최봉열 (경북대학교 전자전기공학부)
  • Published : 2001.10.01
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Abstract

In this paper, we propose eigenstructure assigned sliding mode control for mismatched uncertain system. Variable structure control has the sliding mode in which the system is robust against the uncertainty and the sliding motion depends upon the sliding surface. Therefore, the surface design is one of the important problems. Also in mismatched cases, the uncertainty may affect on the sliding motion and may cause unexpected instability of the system. Thus, that should be considered, too. For robust sliding mode against the mismatched uncertainty, we suggest the design method of the sliding surface using the eigenstructure assignment, define an index as the measure of the robustness which shows the size of affordable unstructured uncertainty, and present the computation method. And also we propose the controller which can ensure the sliding mode and prove the robust stability of the proposed controller by using Lyapunov method. Finally we show the appropriateness of the proposed scheme for the mismatched uncertainty via the example.

Keywords

References

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