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.
|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 18 → 1996 3 21
|Other||Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2)|
|Period||96/3/18 → 96/3/21|
ASJC Scopus subject areas
- コンピュータ サイエンスの応用