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 language | English |
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| Pages | 407-412 |
| Number of pages | 6 |
| Publication status | Published - 1996 Jan 1 |
| Event | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn Duration: 1996 Mar 18 → 1996 Mar 21 |
Other
| Other | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) |
|---|---|
| City | Tsu, Jpn |
| Period | 96/3/18 → 96/3/21 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering