Overcoming the underestimation and overestimation problems in adaptive sliding mode control

Roy, S.; Roy, Sayan Basu; Lee, Jinoh; Baldi, S.

doi:10.1109/TMECH.2019.2930711

Overcoming the underestimation and overestimation problems in adaptive sliding mode control

Title

Overcoming the underestimation and overestimation problems in adaptive sliding mode control

Author

Roy, S. (TU Delft Ship Design, Production and Operations; TU Delft Delft Center for Systems and Control; International Institute of Information Technology)
Roy, Sayan Basu (International Institute of Information Technology)
Lee, Jinoh (Istituto Italiano di Tecnologia)
Baldi, S. (TU Delft Team Bart De Schutter; Southeast University)

Department

Delft Center for Systems and Control

Date

2019

Abstract

Underestimation and overestimation problems are commonly observed in conventional adaptive sliding mode control (ASMC). These problems refer to the fact that the adaptive controller gain unnecessarily increases when the states are approaching the sliding surface (overestimation) or improperly decreases when the states are getting far from it (underestimation). In this paper, we propose a novel ASMC strategy that overcomes such issues. In contrast to the state of the art, the proposed strategy is effective even when an a priori constant bound on the uncertainty cannot be imposed. Comparative results using a two-link manipulator demonstrate improved performance as compared to the conventional ASMC. Experimental results on a biped robot confirm the effectiveness and robustness of the proposed method under various practical uncertainties.

Subject

Adaptive sliding mode control (ASMC)
switching gain
underestimation and overestimation

To reference this document use:

http://resolver.tudelft.nl/uuid:1df8add4-96db-4bdd-a34b-01c110090933

DOI

https://doi.org/10.1109/TMECH.2019.2930711

ISSN

1083-4435

Source

IEEE - ASME Transactions on Mechatronics, 24 (5), 2031-2039

Bibliographical note

Accepted Author Manuscript