Regular Papers

International Journal of Control, Automation and Systems 2021; 19(4): 1560-1569

Published online February 18, 2021

https://doi.org/10.1007/s12555-019-0967-7

© The International Journal of Control, Automation, and Systems

Adaptive H-infinity SMC-based Model Reference Tracker for Uncertain Nonlinear Systems with Input Nonlinearity

Jiunn-Shiou Fang, Jason Sheng-Hong Tsai, Jun-Juh Yan*, and Shu-Mei Guo

National Chin-Yi University of Technology

Abstract

This paper presents a novel robust H∞ model reference adaptive tracker (MRAT) for a class of nonlinear systems with input nonlinearities, uncertainties, and mismatched disturbances. Since the bounds of input nonlinearities and uncertainties are unknown, a new adaptive controller is proposed to solve these problems. Because the proposed adaptive laws are with convergence, the adaptive gains estimated can avoid overestimation. Furthermore, the sliding mode control (SMC) is implemented integrated with a smooth function, then the undesirable chattering phenomenon is reduced. Finally, the proposed tracking controller can process the undesirable effects of external disturbances and promote the tracking performance even subjected to the unknown input nonlinearity. The numerical simulation results demonstrate the robustness and validity of the proposed tracking controller.

Keywords Adaptive control, input nonlinearity, robust tracker, sliding mode control.

Article

Regular Papers

International Journal of Control, Automation and Systems 2021; 19(4): 1560-1569

Published online April 1, 2021 https://doi.org/10.1007/s12555-019-0967-7

Copyright © The International Journal of Control, Automation, and Systems.

Adaptive H-infinity SMC-based Model Reference Tracker for Uncertain Nonlinear Systems with Input Nonlinearity

Jiunn-Shiou Fang, Jason Sheng-Hong Tsai, Jun-Juh Yan*, and Shu-Mei Guo

National Chin-Yi University of Technology

Abstract

This paper presents a novel robust H∞ model reference adaptive tracker (MRAT) for a class of nonlinear systems with input nonlinearities, uncertainties, and mismatched disturbances. Since the bounds of input nonlinearities and uncertainties are unknown, a new adaptive controller is proposed to solve these problems. Because the proposed adaptive laws are with convergence, the adaptive gains estimated can avoid overestimation. Furthermore, the sliding mode control (SMC) is implemented integrated with a smooth function, then the undesirable chattering phenomenon is reduced. Finally, the proposed tracking controller can process the undesirable effects of external disturbances and promote the tracking performance even subjected to the unknown input nonlinearity. The numerical simulation results demonstrate the robustness and validity of the proposed tracking controller.

Keywords: Adaptive control, input nonlinearity, robust tracker, sliding mode control.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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