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Improved Adaptive Sliding Mode Control for a Class of Second‐Order Mechanical Systems
Author(s) -
Cong Binglong,
Liu Xiangdong,
Chen Zhen
Publication year - 2013
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.568
Subject(s) - control theory (sociology) , sliding mode control , bounded function , mechanical system , class (philosophy) , function (biology) , mode (computer interface) , tracking (education) , adaptation (eye) , computer science , control (management) , control engineering , mathematics , engineering , nonlinear system , artificial intelligence , physics , mathematical analysis , psychology , pedagogy , quantum mechanics , evolutionary biology , optics , biology , operating system
Abstract This paper considers the tracking control problem for a class of second‐order mechanical systems with bounded uncertain parameters. A solution to the over‐adaptation problem in current adaptive sliding mode control ( ASMC ) is presented by introducing a decay function in the sliding function definition. The switching gain generated by the proposed ASMC algorithm is significantly reduced as compared with current ASMC design. Simulation results verify the effectiveness of the proposed approach.