Sliding mode control with self-tuning law for uncertain nonlinear systems.
A robust sliding mode control that follows a self-tuning law for nonlinear systems possessing uncertain parameters is proposed. The adjustable control gain and a bipolar sigmoid function are on-line tuned to force the tracking error to approach zero. Control system stability is ensured using the Lyapunov method. Both simulation and experimental application of a planetary gear type inverted pendulum control system verify the effectiveness of the developed approach.
Department of Electrical Engineering, Ching Yun University, Taiwan.
Tzu-Chun
TC
Kuo
Ying-Jeh
YJ
Huang
Shin-Hung
SH
Chang