Methodology of Robust Linear On-line High Speed Tuning for Stable Sliding Mode Controller: Applied to Nonlinear System

摘要

Refer to this research, a linear error-based tuning sliding mode controller (LTSMC) is proposed for robot manipulator. Sliding mode controller (SMC) is an important nonlinear controller in a partly uncertain dynamic system’s parameters. Sliding mode controller has difficulty in handling unstructured model uncertainties. It is possible to solve this problem by combining sliding mode controller and adaption law which this method can helps improve the system’s tracking performance by online tuning method. Since the sliding surface gain ( ) is adjusted by new linear tuning method, it is continuous. In this research new is obtained by the previous multiple sliding surface slopes updating factor which is a coefficient varies between half to one. Linear error-based tuning sliding mode controller is stable model-based controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in linear error-based tuning sliding mode controller based on switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.4 second, steady state error = 1.8e-10 and RMS error=1.16e-12).