Designing the Adaptive Tracking Controller for Uncertain Fully Actuated Dynamical Systems with Additive Disturbances Based on Sliding Mode
Author
Source
Journal of Control Science and Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-06-23
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
This paper addresses the problem of adaptive tracking control for uncertain fully actuated dynamical systems with additive disturbance (FDSA) based on the sliding mode.
We use the adaptive mechanism to adjust the uncertain parameters in sliding mode control law which can be switched to two modes depending on the sliding surface.
By choosing appropriately the parameters in control law, the desired transient time can be obtained without effects of uncertain parameters and additive disturbances.
The chattering phenomenon can be minimized by a chosen constant.
This control method is applied to the angles tracking control of the twin rotor multi-input multi-output system (TRMS) which have nonlinear characteristics, the input torque disturbances and the coupling between the horizontal and vertical movements.
The simulation and experimental results are presented that validate the proposed solution.
American Psychological Association (APA)
Van, Chi Nguyen. 2016. Designing the Adaptive Tracking Controller for Uncertain Fully Actuated Dynamical Systems with Additive Disturbances Based on Sliding Mode. Journal of Control Science and Engineering،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1107943
Modern Language Association (MLA)
Van, Chi Nguyen. Designing the Adaptive Tracking Controller for Uncertain Fully Actuated Dynamical Systems with Additive Disturbances Based on Sliding Mode. Journal of Control Science and Engineering No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1107943
American Medical Association (AMA)
Van, Chi Nguyen. Designing the Adaptive Tracking Controller for Uncertain Fully Actuated Dynamical Systems with Additive Disturbances Based on Sliding Mode. Journal of Control Science and Engineering. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1107943
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1107943