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2014 | OriginalPaper | Chapter

8. Sliding Mode Control with Self-Turning Law for Uncertain Nonlinear Systems with Time-Delay and External Disturbances

Authors : Ran Zhen, Jinyong Chen, Xueli Wu, Quanmin Zhu, Hassan Nouri, Xiaojing Wu, Jianhua Zhang

Published in: Applied Methods and Techniques for Mechatronic Systems

Publisher: Springer Berlin Heidelberg

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Abstract

This study proposes a novel sliding mode control with self-turning law for nonlinear systems with time-delay and external disturbances possessing uncertain parameters. The adjustable control gain and a bipolar sigmoid function are online tuned to force the tracking error to approach zero. The proposed control scheme provides good transient and steady-state performance. Moreover as the proposed controller, the chatting phenomenon can be avoided and the problem of time-delay and external disturbances are solved for a class of nonlinear systems. The closed-loop control system stability is proved to use the Lyapunov method. Steady-state system performance and chattering are considerably improved. Numerical simulation results are given to illustrate the effectiveness of the proposed procedure.

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Title: Sliding Mode Control with Self-Turning Law for Uncertain Nonlinear Systems with Time-Delay and External Disturbances
Authors: Ran Zhen
Jinyong Chen
Xueli Wu
Quanmin Zhu
Hassan Nouri
Xiaojing Wu
Jianhua Zhang
Publisher: Springer Berlin Heidelberg
Book: Applied Methods and Techniques for Mechatronic Systems
Print ISBN: 978-3-642-36384-9

Electronic ISBN: 978-3-642-36385-6

Copyright Year: 2014
DOI: https://doi.org/10.1007/978-3-642-36385-6_8