This paper study the adaptive robust sliding mode controller design of a class of uncertain systems with time-varying delay. The uncertainty is norm-bounded, but the upper bound is unknown. Firstly, an integral sliding surface is designed so that the reaching phase has been eliminated. A sufficient condition such that the sliding mode is asymptotically stable is given in term of LMIs(Linear Matrix Inequality). The condition involves a few matrix variables but could reduce the conservatism. A new adaptive law is presented to estimate the unknown upper-bound of the uncertainty. Then a sliding mode based controller is proposed so that the system state stay on surface. Finally, an example is given to show the effectiveness of this method.
Adaptive robust sliding mode control for time-varying delay systems with uncertainties
2014-08-01
124876 byte
Conference paper
Electronic Resource
English
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