This paper presents a discrete-time adaptive sliding control method for SISO nonlinear systems with a bounded disturbance or unmodeled dynamics. Control and adaptation laws considering input saturation are obtained from approximately discretized nonlinear systems. The developed disturbance adaptation or estimation law is in a discrete-time form, and differs from that of conventional adaptive sliding mode control. The closed-loop poles of the feedback linearized sliding surface and the adaptation error dynamics can easily be placed. It can be shown that the adaptation error dynamics can be decoupled from sliding surface dynamics using the proposed scheme. The proposed control law is applied to speed tracking control of an automatic engine subject to unknown external loads. Simulation and experimental results verify the advantages of the proposed control law.
Disturbance Adaptive Discrete-Time Sliding Control With Application to Engine Speed Control
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division March 16, 1998. Associate Editor: G. Rizzoni.
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Won, M., and Hedrick, J. K. (March 16, 1998). "Disturbance Adaptive Discrete-Time Sliding Control With Application to Engine Speed Control ." ASME. J. Dyn. Sys., Meas., Control. March 2001; 123(1): 1–9. https://doi.org/10.1115/1.1349884
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