ROBUST QUASI-SLIDING MODE TRACKING CONTROL FOR DISCRETE INPUT-OUTPUT SYSTEMS

摘要

In this paper, a discrete robust quasi-sliding mode adaptive tracking controller is presented for the input-output systems with unknown parameters, unmodeled dynamics and bounded disturbances. The robust tracking controller is adaptive control inconjunction with a sliding mode based control design. The bounded motion of the system 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, thedead-zone method is employed even though the upper and lower bounds of the disturbances are unknown. The effectiveness of the proposed control is verified by simulation.