Adaptive Robust Pid Controller Design Based On A Sliding Mode For Uncertain Chaotic Systems

Abstract

A robust adaptive PID controller design motivated from the sliding mode control is proposed for a class of uncertain chaotic systems in this paper. Three PID control gains, Kp, Ki, and Kd, are adjustable parameters and will be updated online with an adequate adaptation mechanism to minimize a previously designed sliding condition. By introducing a supervisory controller, the stability of the closed-loop PID control system under with the plant uncertainty and external disturbance can be guaranteed. Finally, a well-known Vanderpol oscillator is used as an illustrative to show the efectiveness of the proposed robust a PID controller.

Simple adaptive methodology for chattering-free sliding mode control

“…Sliding mode control (SMC) is widely adopted for controlling nonlinear uncertain systems in various fields of study [1][2][3][4]. The use of a discontinuous function and high control gain characterizes conventional sliding mode control, which guarantees good robustness and the finite-time convergence.…”