Yang X.-Q.,Naval aviation engineering Institute of Qingdao branch |
Zou K.-F.,Naval aviation engineering Institute of Qingdao branch
Applied Mechanics and Materials | Year: 2013
In paper, the problem of robustify LQR for a class of uncertain linear systems is considered. An optimal controller is designed for the nominal system and an integral sliding surface is constructed. The ideal sliding motion can minimize a given quadratic performance index, and the reaching phase, which is inherent in conventional sliding mode control, is completely eliminated. Then the sliding mode control law is synthesized to guarantee the reachability of the specified sliding surface. The system dynamics is global robust to uncertainties which satisfy matching conditions. A GROSMC is realized. To verify the effectiveness of the proposed scheme, a robust optimal sliding mode controller is developed for rotor position control of an electrical servo drive system. © (2013) Trans Tech Publications, Switzerland.