期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 27, 期 5, 页码 3885-3895出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2022.3145910
关键词
Adaptive integral sliding mode; aerial vehicle; Euler-Lagrange dynamics; state-dependent uncertainty
类别
资金
- Natural Science Foundation of China [62073074]
- Double Innovation Plan [4207012004]
- Special Funding for Overseas [6207011901]
This study introduces a variant of AISMC with reduced a priori knowledge of system uncertainty, utilizing a structure-independent parametrization based on Euler-Lagrange dynamics. The method is analyzed in the Lyapunov stability framework and validated in systems with different structures.
Adaptive integral sliding mode control (AISMC) is an extension of adaptive sliding mode control which is a way to ensure sliding motion while handling system uncertainties. However, conventional AISMC formulations require to different extent a priori knowledge of the system uncertainty: either the upper bound of the uncertainty or of its time derivative are assumed to be bounded a priori, or the uncertainty is assumed to be parametrized by some structure-dependent factorization. This work proposes a variant of AISMC with reduced a priori knowledge of the system uncertainty: it is shown that Euler-Lagrange dynamics typical of sliding mode literature admit a structure-independent parametrization of the system uncertainty. This parametrization is not the result of structural knowledge, but it comes from basic properties of Euler-Lagrange dynamics, valid independently on the structure of the system. The AISMC control method arising from this parametrization is analyzed in the Lyapunov stability framework, and validated in systems with different structures: a surface vessel and an aerial vehicle.
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