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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Overcoming the Underestimation and Overestimation Problems in Adaptive Sliding Mode Control
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Overcoming the Underestimation and Overestimation Problems in Adaptive Sliding Mode Control

机译：克服自适应滑模控制中的低估和高估问题

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摘要

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.
机译：在传统的自适应滑模控制（ASMC）中通常会出现低估和高估问题。这些问题涉及以下事实：当状态接近滑动表面时，自适应控制器的增益会不必要地增加（高估）；而当状态远离滑动面时，自适应控制器的增益会不必要地降低（低估）。在本文中，我们提出了一种克服此类问题的新颖的ASMC策略。与现有技术相反，所提出的策略是有效的，即使不能对不确定性施加先验常数。与传统的ASMC相比，使用两连杆机械手的比较结果表明性能得到了改善。在两足动物机器人上的实验结果证实了该方法在各种实际不确定性下的有效性和鲁棒性。

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