Robust control of non-linear systems via adaptive sliding mode technique

Date of Completion

January 1995


Engineering, Electronics and Electrical|Engineering, Mechanical|Engineering, System Science




Robust control of multi-input multi-output (MIMO) non-linear systems is considered within the frame work of adaptive control and variable structure (VS)/sliding mode control (SMC) systems. It also leads to the principle of robust adaptive approach.^ In the first part of this dissertation, a modification to the saturation function of the sliding mode control is considered in the form of a backlash (dead-band) added saturation function and its merits are discussed.^ In the second part, sliding mode and adaptive control approaches are combined to form a robust adaptive control methodology.^ A set of new adaptation laws are defined to apply this method to the multi-input, multi-output (MIMO) non-linear systems in their canonical form with parametric uncertainties (unknown but constant) and bounded disturbances. This makes adaptive control approach applicable to a more general class of non-linear systems. The findings are presented through simulations. ^