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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2019.3
- 수록면
- 460 - 470 (11page)
- DOI
- 10.5370/KIEE.2019.68.3.460
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초록· 키워드
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Nowadays the integral action has been augmented to the VSS(variable structure system) or SMC(sliding mode control) to improve the control performance. In this note, for the integral sliding mode control(ISMC) of SI(single input) uncertain nonlinear systems, a complete proof of Utkin"s theorem is presented. The Utkin’s invariance theorem with respect to the two nonlinear transformation methods so called the two diagonalization methods is proved clearly, comparatively, and completely for the ISMC of SI uncertain nonlinear systems. With respect to the sliding surface and control input transformations, the equation of the sliding mode i.e., the integral sliding surface is invariant, which is proved completely. During the proof, the guideline for obtaining the ideal sliding dynamics of the integral sliding surface is provided and by using the solution of the ideal sliding dynamics the controlled output is predictable, which is shown in the design example and simulation study, and the design rule of the nonlinear feedback gains of the ISMC are proposed. Through an illustrative example and simulation study, the usefulness of the main results is verified. By means of the two nonlinear transformation methods, the same results can be obtained.
목차
Abstract
1. Introduction
2. Main Results of Proof of Utkin“s Theorem
3. Design Examples and Simulation Studies
4. Conclusions
References
참고문헌 (39)
참고문헌 신청
A. Salihbegovic / 2016 / Multivariable Sliding Mode Approach with Enhanced Robustness Properties Based on the Robust Internal-Loop Compensator for a class of Nonlinear Mechanical Systems / 2016 European Control Conferenece(ECC) :382~387
O. Bicer / 2016 / State Dependent Riccati Equation Based Sliding Mode Control for Nonlinear Systems with Mismatched Uncertainties / 2016 17th International Carpathian Control Conference (ICCC) :54~59
B. Fernandez / 1987 / Control of Multi variable Nonlinear System by the Sliding Mode Method / I. J. Control 46(3):1019~1040
V.I. Utkin / 1978 / Sliding Modes and Their Application in Variable Structure Systems
Decarlo, R. A. / 1988 / Variable Structure Control of Nonlinear Multivariable Systems:A Tutorial / Proc. IEEE 76:212~232
O. Bicer / 2016 / State Dependent Riccati Equation Based Sliding Mode Control for Nonlinear Systems with Mismatched Uncertainties / 2016 17th International Carpathian Control Conference (ICCC) :54~59
B. Fernandez / 1987 / Control of Multi variable Nonlinear System by the Sliding Mode Method / I. J. Control 46(3):1019~1040
V.I. Utkin / 1978 / Sliding Modes and Their Application in Variable Structure Systems
Decarlo, R. A. / 1988 / Variable Structure Control of Nonlinear Multivariable Systems:A Tutorial / Proc. IEEE 76:212~232
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UCI(KEPA) : I410-ECN-0101-2019-560-000480928