Adaptive sliding mode control for a class of MIMO nonlinear systems with uncertainties |
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| Authors: | Alireza Nasiri Sing Kiong Nguang Akshya Swain |
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| Institution: | The Department of Electrical and Computer Engineering, The University of Auckland, Auckland, New Zealand |
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| Abstract: | This paper proposes an adaptive scheme of designing sliding mode control (SMC) for affine class of multi-input multi-output (MIMO) nonlinear systems with uncertainty in the systems dynamics and control distribution gain. The proposed adaptive SMC does not require any a priori knowledge of the uncertainty bounds and therefore offers significant advantages over the non-adaptive schemes of SMC design. The closed loop stability conditions are derived based on Lyapunov theory. The effectiveness of the proposed approach is demonstrated via simulations considering an example of a two-link robot manipulator and has been found to be satisfactory. |
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