Robust adaptive quasi-sliding mode controller for discrete-time systems |
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Authors: | Xinkai Chen Toshio Fukuda |
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Affiliation: | aDepartment of Electrical and Electronic Engineering, Mie University, 1515 Kamihama-cho, Tsu-city 514-8507, Japan;bDepartment of Mechano-Informatics and Systems, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan |
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Abstract: | In this paper, a discrete robust quasi-sliding mode adaptive controller is presented for the system with model uncertainties, unmodeled dynamics and bounded disturbances. The proposed method is adaptive control in conjunction with a sliding mode based controller design. The bounded motion of the state around the sliding surface and the stability of the global system in the sense that all signals remain bounded are guaranteed. In the proposed adaptive algorithms, the dead-zone method is employed even though the upper and lower bounds of the disturbances are unknown. Simulation results have shown the effectiveness of the proposed algorithms. |
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Keywords: | Discrete quasi-sliding mode Model uncertainties Unmodeled dynamics Bounded disturbances Adaptive algorithm with dead zone Stability |
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