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Chao Liu,Yangmin Li,Sukun Tian,Haifeng Ma 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.12
A novel disturbance compensation based sliding mode reaching law with a reference trajectory generator is presented in this work. Unlike existing similar researches, a reference trajectory generator is added to the reachinglaw to obtain the target evolution of the switching function. Meanwhile, a high order disturbance estimator is utilized to achieve accurate disturbance rejection. Additionally, by using the nonlinear functions, the controllerparameters can be adaptively adjusted in a wise manner. The main merit of the presented method is that it is capable of ensuring a much smaller ultimate bound of the switching function, i.e., O(Tn+1) order accuracy and n is a positiveinteger, better system robustness, and improved control accuracy. Moreover, system dynamics, including the system states, are theoretically analyzed. The performance improvement of the presented method is verified through a realsimulation study.