Journal
CONTROL ENGINEERING PRACTICE
Volume 21, Issue 5, Pages 679-688Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2012.04.012
Keywords
Sliding mode control; Gain adaptation; Pneumatic actuator
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A novel adaptive sliding mode controller is proposed for a class of nonlinear MIMO systems with bounded uncertainties/perturbations whose bounds are unknown. The adaptation algorithm ensures that the gain is not overestimated, which leads to a reduction of chattering; furthermore, the controller ensures the establishment of a real sliding mode (which induces the practical stability of the closed-loop system). The algorithm is applied to position-pressure control of an electropneumatic actuator. The results of the experimental study are presented and confirmed the efficacy of the proposed adaptive sliding mode control. (C) 2012 Elsevier Ltd. All rights reserved.
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