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Saleh Mobayen,Fairouz Tchier 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.3
This paper investigates a robust adaptive second-order sliding mode control method for tracking problemof a class of uncertain linear systems with matched and unmatched disturbances. The fundamental idea of thesuggested control method is that the discontinuous sign function is used for the time-derivative of the controlsignal and hence the smooth control input achieved after an integration process is continuous and removes thechattering problem. Using a PID sliding surface, the finite-time convergence of output tracking errors is obtained. The adaptive gain-tuning control law removes the necessity of gaining information about the upper bounds of theexternal disturbances. The control system is in the sliding mode and then, tracking errors converge to the origin ina finite time under the presence of the external disturbances. Simulation results on an uncertain numerical systemand a turntable servo-system are presented to indicate the effectiveness and feasibility of the proposed scheme.