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

Meliksah Ertugrul, Okyay Kaynak, Asif Sabanovic, Kouhei Ohnishi

Research output: Contribution to conferencePaper

18 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
Pages407-412
Number of pages6
Publication statusPublished - 1996 Jan 1
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

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Ertugrul, M., Kaynak, O., Sabanovic, A., & Ohnishi, K. (1996). Generalized approach for Lyapunov design of sliding mode controllers for motion control applications. 407-412. Paper presented at Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2), Tsu, Jpn, .