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| スライディングモード制御× | 適応制御× | |
|---|---|---|
| 分野 | 制御理論 | 制御理論 |
| 系統 | Machine learning | Machine learning |
| 提唱年≠ | 1977 | 1983 |
| 提唱者≠ | Vadim Utkin | Karl J. Astrom |
| 種類 | algorithm | algorithm |
| 原典≠ | Utkin, V. I. (1977). Variable structure systems with sliding modes. IEEE Transactions on Automatic Control, 22(2), 212-222. DOI ↗ | Astrom, K. J., & Wittenmark, B. (1983). Computer-Controlled Systems: Theory and Design. Prentice Hall. link ↗ |
| 別名≠ | SMC, Variable Structure Control, Robust Control with Discontinuities | Self-Tuning Control, Parameter Estimation Control |
| 関連≠ | 4 | 3 |
| 概要≠ | Sliding Mode Control (SMC) is a robust nonlinear control technique that forces a system to follow a predetermined surface (the sliding surface) in state space by using discontinuous (bang-bang or high-frequency switching) control inputs. Developed by Utkin and further advanced by Slotine, SMC is remarkably insensitive to parameter variations and disturbances—once the system reaches the sliding surface, its behavior is determined solely by the surface geometry, not by uncertainty. This makes SMC powerful for nonlinear systems, manipulators, and uncertain systems where robustness is paramount. | Adaptive Control is a control strategy that adjusts controller parameters in real-time based on online system identification to maintain performance despite changing plant dynamics or uncertain parameters. Pioneered by Astrom and Wittenmark, adaptive control enables robust operation in time-varying environments, from aircraft with fuel depletion to industrial systems with aging components. |
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