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

Meliksah Ertugrul, Okyay Kaynak, Asif Sabanovic, Kouhei Ohnishi

研究成果: Paper査読

22 被引用数 (Scopus)

抄録

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.

本文言語English
ページ407-412
ページ数6
出版ステータスPublished - 1996 1 1
イベントProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn
継続期間: 1996 3 181996 3 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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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