Authors:
Yu-Ting Kuo
and
Kuo-Ming Chang
Affiliation:
National Kaohsiung University of Applied Sciences, Taiwan
Keyword(s):
Extension state observer, Adaptive control, Sliding mode control, Dead-zone, External disturbance.
Related
Ontology
Subjects/Areas/Topics:
Adaptive Signal Processing and Control
;
Informatics in Control, Automation and Robotics
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
In this paper, an adaptive sliding mode control is proposed to address the tracking control objective of uncertain nonlinear system preceded by an unknown dead-zone and with unmeasurable system state. Based on the extension state observer, sliding mode control, and adaptive dead-zone inverse techniques, a robust observer-based adaptive sliding mode control scheme is developed without available system state. The proposed control scheme can ensure global stability of the controlled system subject to unknown nonlinear function and external disturbance and achieve the tracking control objective satisfactorily.