http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Discrete-time Analysis of a Robust Model Reference Adaptive Sliding Mode Control
Deise Maria Cirolini Milbradt,Guilherme Vieira Hollweg,Hilton Abílio Gründling,Paulo Jefferson Dias de Oliveira Evald 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.5
In real-world applications, plants with parametric variations and unmodelled dynamics are very common, and, in most cases, fixed-gain controllers can not ensure global stability and hardly have high performance for large system variations. To overcome this challenge, this paper presents a Robust Model Reference Adaptive Sliding Mode Control, whose structure combines a Robust Model Reference Adaptive controller (RMRAC) and an adaptive first-order Sliding Mode controller (SMC). Its discrete-time robustness analysis and stability proofs by means of Lyapunov theory are provided. The mathematical analyses show that this hybrid adaptive controller is robust to parametric variations and unmodelled plant dynamics. Besides, it ensures that tracking error tends to a residual set in steady state, maintaining global stability. Simulation results are presented to show the controller effectiveness applied in a non-minimum phase unstable plant with unmodelled dynamics. Furthermore, a comparison with a Proportional-Resonant controller is also provided.