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Sliding mode control with gain adaptation - application to an electropneumatic actuator

Abstract : A novel adaptive sliding mode controller is proposed for a class of nonlinear MIMO systems with bounded uncertainties/perturbations whose bounds are unknown. The adaptation algorithm ensures that the gain is not overestimated, which leads to a reduction of chattering; furthermore, the controller ensures the establishment of a real sliding mode (which induces the practical stability of the closed-loop system). The algorithm is applied to position-pressure control of an electropneumatic actuator. The results of the experimental study are presented and confirmed the efficacy of the proposed adaptive sliding mode control.
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https://hal.archives-ouvertes.fr/hal-00699534
Contributor : Franck Plestan <>
Submitted on : Monday, May 21, 2012 - 10:39:29 AM
Last modification on : Wednesday, December 19, 2018 - 3:02:04 PM

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  • HAL Id : hal-00699534, version 1

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Franck Plestan, Yuri Shtessel, Vincent Bregeault, Alexander Poznyak. Sliding mode control with gain adaptation - application to an electropneumatic actuator. Control Engineering Practice, Elsevier, 2013, 21 (5), pp.679-688. ⟨hal-00699534⟩

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