Generalized approach for Lyapunov design of sliding mode controllers for motion control applications

Meliksah Ertugrul, Okyay Kaynak, Asif Sabanovic, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)

Abstract

In the application of Sliding Mode Controllers, the main problems that are encountered are chattering and computational power required for the calculation of equivalent control. In this paper, novel approaches for the design of SMC based on the selection of a Lyapunov function are proposed for motion control applications that evade these problems and are easily implementable. A general criterion is established for stability and chattering elimination. Two novel schemes are proposed for the estimation of the equivalent control to avoid the computational burden. Simulation studies carried out on a direct drive arm indicate that the proposed approaches are a good candidate for motion control applications.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherIEEE
Pages407-412
Number of pages6
Volume1
Publication statusPublished - 1996
Externally publishedYes
EventProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn
Duration: 1996 Mar 181996 Mar 21

Other

OtherProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2)
CityTsu, Jpn
Period96/3/1896/3/21

Fingerprint

Motion control
Controllers
Lyapunov functions

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Ertugrul, M., Kaynak, O., Sabanovic, A., & Ohnishi, K. (1996). Generalized approach for Lyapunov design of sliding mode controllers for motion control applications. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 407-412). IEEE.

Generalized approach for Lyapunov design of sliding mode controllers for motion control applications. / Ertugrul, Meliksah; Kaynak, Okyay; Sabanovic, Asif; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Vol. 1 IEEE, 1996. p. 407-412.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ertugrul, M, Kaynak, O, Sabanovic, A & Ohnishi, K 1996, Generalized approach for Lyapunov design of sliding mode controllers for motion control applications. in International Workshop on Advanced Motion Control, AMC. vol. 1, IEEE, pp. 407-412, Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2), Tsu, Jpn, 96/3/18.
Ertugrul M, Kaynak O, Sabanovic A, Ohnishi K. Generalized approach for Lyapunov design of sliding mode controllers for motion control applications. In International Workshop on Advanced Motion Control, AMC. Vol. 1. IEEE. 1996. p. 407-412
Ertugrul, Meliksah ; Kaynak, Okyay ; Sabanovic, Asif ; Ohnishi, Kouhei. / Generalized approach for Lyapunov design of sliding mode controllers for motion control applications. International Workshop on Advanced Motion Control, AMC. Vol. 1 IEEE, 1996. pp. 407-412
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