TY - GEN
T1 - Filter-Based Adaptive Sliding Mode Control with Unknown Disturbance
AU - Zhao, Jian
AU - Shao, Ke
AU - Zhao, Jian
AU - Tan, Junbo
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022/1/1
Y1 - 2022/1/1
N2 - Low pass filter (LPF) is an effective approach to suppress chattering of sliding mode control (SMC). However, in current LPF-based SMC, the upper bound of the disturbance or its derivative is needed to be known a priori. As a result, due to the constant control gain, chattering still occurs on the sliding mode even under minor external disturbance. In this paper, to cancel the requirement for the upper bound of the disturbance or its derivative, a leakage-type (LT) adaptive law is developed to approximate the amplitude of the disturbance and its derivative in finite time. Thanks to the LT algorithm, the chattering is further removed when the system is on the sliding mode. By using LT adaptation, a type of LPF-based adaptive SMC is proposed. Explicitly, a linear out-layer sliding function is introduced to realize the asymptotical convergence of the system to a small neighborhood around zero. Lyapunov analysis and simulations verify the superiorities of the developed method.
AB - Low pass filter (LPF) is an effective approach to suppress chattering of sliding mode control (SMC). However, in current LPF-based SMC, the upper bound of the disturbance or its derivative is needed to be known a priori. As a result, due to the constant control gain, chattering still occurs on the sliding mode even under minor external disturbance. In this paper, to cancel the requirement for the upper bound of the disturbance or its derivative, a leakage-type (LT) adaptive law is developed to approximate the amplitude of the disturbance and its derivative in finite time. Thanks to the LT algorithm, the chattering is further removed when the system is on the sliding mode. By using LT adaptation, a type of LPF-based adaptive SMC is proposed. Explicitly, a linear out-layer sliding function is introduced to realize the asymptotical convergence of the system to a small neighborhood around zero. Lyapunov analysis and simulations verify the superiorities of the developed method.
UR - https://www.scopus.com/pages/publications/85143665148
U2 - 10.1109/ICARM54641.2022.9959368
DO - 10.1109/ICARM54641.2022.9959368
M3 - 会议稿件
AN - SCOPUS:85143665148
T3 - ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics
SP - 904
EP - 909
BT - ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2022
Y2 - 9 July 2022 through 11 July 2022
ER -