Abstract
For a class of non-matching uncertain nonlinear system such as stratospheric balloon-borne gondola azimuth control system, a new robust adaptive multiple sliding mode controller is proposed. In this control method, the virtual and the practical control variables are obtained by designing the multiple sliding modes step-by-step. For avoiding the chattering problem generated by discontinuous input, the traditional sign function is replaced by hyperbolic tangent function. Meanwhile, the CMAC neural network is used to approximate the system uncertainties and the derivative of virtual control input online, which can reduce the conservation of controller parameters design. The system stability analyses show that the control method can guarantee that the output tracking error and slide modes asymptotically convergent to boundary layer. The simulation results show that the controller has higher tracking accuracy, and stronger robust to nonlinear and uncertainty of system, and it also can be applied to other similar non-matching uncertain nonlinear systems.
| Original language | English |
|---|---|
| Pages (from-to) | 1033-1039 |
| Number of pages | 7 |
| Journal | Applied Mechanics and Materials |
| Volume | 190-191 |
| DOIs | |
| State | Published - 2012 |
| Event | 3rd International Conference on Digital Manufacturing and Automation, ICDMA 2012 - Guangxi, China Duration: 1 Aug 2012 → 2 Aug 2012 |
Keywords
- Azimuth control
- Balloon-borne gondola system
- Multiple sliding mode
- Nonlinear system
- Robust control
- Uncertainties