Authors: An-li Shang; Zheng Wang
Addresses: College of Electrical Engineering, Naval University of Engineering, Wuhan, Hubei, 430033, China ' College of Electrical Engineering, Naval University of Engineering, Wuhan, Hubei, 430033, China
Abstract: In this paper, a combined adaptive/second order sliding mode control approach for multi-input cascade uncertain non-linear system is given; the control design is based on parameter estimation backstepping recursive design method. Because the orders of the parameter update law are less than the number of the parameters, this design is not over-parameterised; the approach presented in this paper also introduces a suitable commutation logic that prevents an uncontrollable growth of the uncertainties. The combined approach retains the stability and convergence features of the original adaptive strategy. In addition, it allows one to deal with systems with uncertainties of more general types, ensuring robustness, as well as a reduction in the computational load.
Keywords: adaptive backstepping; multi-input cascade; sliding mode control; SMC; commutation logic; parameter estimation; recursive design; nonlinear systems; uncertainties.
International Journal of Modelling, Identification and Control, 2013 Vol.19 No.2, pp.195 - 201
Published online: 04 Jun 2013 *Full-text access for editors Access for subscribers Purchase this article Comment on this article