Adaptive sliding mode control for a class of MIMO nonlinear systems with uncertainties

作者：Nasiri Alireza^*; Nguang Sing Kiong; Swain Akshya

来源：Journal of the Franklin Institute, 2014, 351(4): 2048-2061.

DOI：10.1016/j.jfranklin.2012.12.019

This paper proposes an adaptive scheme of designing sliding mode control (SMC) for affine class of multi-input multi-output (MIMO) nonlinear systems with uncertainty in the systems dynamics and control distribution gain. The proposed adaptive SMC does not require any a priori knowledge of the uncertainty bounds and therefore offers significant advantages over the non-adaptive schemes of SMC design. The dosed loop stability conditions are derived based on Lyapunov theory. The effectiveness of the proposed approach is demonstrated via simulations considering an example of a two-link robot manipulator and has been found to be satisfactory.

• 出版日期2014-4