Date of Award
2024
Document Type
Thesis
Degree Name
Master of Science in Engineering (MSE)
Department
Mechanical and Aerospace Engineering
Committee Chair
Farbod Fahimi
Committee Member
Avimanyu Sahoo
Committee Member
Howard Chen
Research Advisor
Farbod Fahimi
Subject(s)
sliding mode control, Chattering control (Control systems), Boundary layer
Abstract
This thesis presents the development of an adaptive boundary layer sliding mode control (SMC) methodology tailored for plants with unknown parameters. The primary challenge addressed is the mitigation of chattering while ensuring robust performance in systems subject to high disturbances and parameter uncertainties. The research introduces a control law that combines existing work that dynamically adjusts the boundary layer thickness with existing work that uses adaptive laws to estimate unknown plant parameters. The stability of the proposed controller is validated with Lyapunov analysis. Simulation results demonstrate the effectiveness of the adaptive boundary layer SMC in producing good tracking control in the presence of high disturbance and unknown plant parameters.
Recommended Citation
Schlabach, Josiah, "Adaptive sliding mode control for plants with unknown parameters with adaptive boundary layer thickness for chatter attenuation" (2024). Theses. 681.
https://louis.uah.edu/uah-theses/681