Novel Sliding Mode Controller with Dynamics of Nominal System

摘要

PURPOSE: A sliding mode controller is provided to improve control efficiency and to easily control reaching time by making a sliding mode have nominal dynamic characteristics. CONSTITUTION: A sliding mode controller includes: an adder(101) receiving signals of continuous linear input and non-linear control input; a state vector generator(102) generating a state vector signal by receiving a sliding mode control input signal generated from the adder; a virtual state generator(108) applying a virtual state signal to the adder; a state gainer(109) applying an equivalent control input signal to the adder by receiving a signal from the state vector generator; a sliding plane equation inductor(103) generating a sliding function signal by receiving a state vector signal; and a non-linear control gainer(106) applying a control gain signum function to the adder by receiving a sliding function signal. By providing nominal dynamic characteristics, control performance without uncertainty is maintained even if dynamic uncertainty exists.