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Wajdi Saad,Anis Sellami,Germain Garcia 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.6
This paper proposes a robust sliding mode-H∞ control design methodology for a class of nonlinearsystems with unmatched parametric uncertainty and external disturbance. The design procedure combines thehigh robustness of the sliding mode control (SMC) with the H¥ norm performance. First, based on linear matrixinequalities (LMI) technique and multiple Lyapunov functions approach, the sliding surface design problem isformulated as a H¥ state-feedback control for a reduced uncertain nonlinear system with polytopic representation. Then, a sliding mode controller that drives the system states to the sliding surface in finite time and maintains asliding mode is constructed. Finally, a comparative study is done to prove the effectiveness of the results.