제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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- Pages.332-332
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- 2000
불확실성 추정을 갖는 새로운 슬라이딩 모드제어기의 설계
A study on the Novel Sliding Mode Controller with Uncertainty Adaptation
초록
In this paper, a novel sliding mode control with uncertainty adaptation is produced by introducing a virtual state. Because upper bounds of the uncertainty is difficult to know, we estimate these upper bound by using the simple adaptation law and design the novel sliding mode controller. The nominal controller is used the optimal controller to minimize cost function.