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서지반출
Design of Uncertain Multi-input Systems with State Delay and Input Deadzone Nonlinearity via Sliding Mode Control
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  • Design of Uncertain Multi-input Systems with State Delay and Input Deadzone Nonlinearity via Sliding Mode Control
  • Design of Uncertain Multi-input Systems with State Delay and Input Deadzone Nonlinearity via Sliding Mode Control
저자명
Liu. Wen-Jeng,Shyu. Kuo-Kai,Hsu. Kou-Cheng
간행물명
International Journal of Control, Automation and Systems
권/호정보
2011년|9권 3호|pp.461-469 (9 pages)
발행정보
제어로봇시스템학회
파일정보
정기간행물|ENG|
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이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
서지반출

기타언어초록

The problem of robust stabilization of a class of uncertain multi-input time-delayed systems with deadzone nonlinearity in the actuator is considered. To achieve a stable uncertain multi-input system, sliding mode control (SMC) is adopted in the controller design. The proposed controller guarantees the global reaching condition of the sliding mode in the uncertain multi-input system. In the sliding mode, the investigated time-delayed systems with deadzone nonlinearity still possess the insensitivity to the uncertainties and/or disturbances, which can be seen in the systems with linear inputs. In addition, the proposed controller can work effectively for systems no matter whether sector nonlinearity and/or deadzone exists in the actuator or not. However, such property cannot be obtained by the controller design through traditional SMC for the systems without input nonlinearity. Besides, the traditional SMC controller might produce limit cycles once the system contains deadzone in the input. Furthermore, the presented controller ensures the system trajectories globally exponentially converged in the sliding mode. Finally, two examples are illustrated to demonstrate the effectiveness of the proposed sliding mode controller.