Transformations and Combinations of Adaptive and Sliding Mode Control
Abstract: An overview of control design for uncertain systems based on transforming and combining adaptive control and sliding-mode control techniques is presented. Output-feedback controllers with global stability and convergence properties are thereby developed for linear and nonlinear systems with general relative degree. Real-world applications illustrate the performance of the controllers designed using the described approach. A bridge between parameter-adaptive systems and sliding-mode control systems is formulated as a controller that combines the desirable features and avoids the drawbacks. Global exact tracking controllers utilizing higher-order sliding-mode compensators are discussed. A scheme for adaptive sliding-mode control with guaranteed transient and steady-state performance based on monitoring functions and gain switching is described. Chattering alleviation by means of a prediction error loop for classical and modern sliding-mode controllers is presented.
Bio: He was born in Hunan, China. He received the B.Sc. and M.Sc. degrees in electrical engineering from the Instituto Tecnológico de Aeronáutica (ITA), São José dos Campos, Brazil, in 1968 and 1970, respectively, and the Docteur d’Etat ès Sciences Physiques degree from the Université Paul Sabatier, Toulouse, France in 1974. His doctoral research was developed at the Laboratoire d’Automatique et d’Analyse des Systèmes — CNRS, Toulouse. In 1975, he joined the Graduate School and Research in Engineering of the Federal University of Rio de Janeiro (COPPE-UFRJ). His current research interests include adaptive control systems, variable structure systems, nonlinear systems dynamics and their applications to industrial process control, industrial robotics, terrestrial and underwater robotics. He led several R&D projects in underwater robotics and offshore robotics for the Oil and Gas Industry. He published over 80 refereed Journal papers and 200 refereed Conference papers. He supervised over 20 PhD and 50 MSc students. Liu Hsu is a member of the Brazilian Academy of Sciences since 2002. He was awarded the title of Commander (2005) and Grand Cross (2008) of the Brazilian National Order of Scientific Merit. Since 2013 he became a member of the Brazilian National Academy of Engineering. He is a founding member of the Sociedade Brasileira de Automática (SBA) and a Senior Member of the IEEE Control Systems Society. He has served as an associate editor of the scientific journal of the SBA “Controle & Automação”, of the Annals of the Brazilian Academy of Sciences, the IET-Control Theory and Applications and the IEEE Control Systems Magazine. He is a member of the IEEE CSS Technical Committee on Variable Structure and Sliding Mode Control. In 2017 he received the title of Professor Emeritus of COPPE-Federal University of Rio de Janeiro.
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