Adaptive Sliding-mode Control with Gaussian Network
نویسندگان
چکیده
This paper is concerned with the adaptive sliding-mode control of a class of nonlinear systems with model uncertainties. A direct adaptive sliding-mode control scheme is presented. A network of Gaussian radial basis functions with variable weights was used to compensate the model uncertainties. A new growing scheme of this network is proposed. It starts with a loose structure in order to reduce the computational effort. More nodes are added to the network progressively in order to improve the transient behaviour. The adaptive law developed using the Lyapunov synthesis approach guarantee the stability of the overall control scheme, even in the presence of modelling error. The performance of the control scheme is illustrated by simulation studies with convincing results. Copyright c 2005 IFAC
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تاریخ انتشار 2005