Chattering-free sliding mode control for a class of nonlinear mechanical systems

2001 ◽  
Vol 11 (12) ◽  
pp. 1161-1178 ◽  
Author(s):  
Vicente Parra-Vega ◽  
Gerd Hirzinger
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Mode Control ◽  
Nonlinear Mechanical ◽  
Chattering Free ◽  
Nonlinear Mechanical Systems

Experiments of Sliding Mode Control of Time-Delayed Dynamical Systems With Model Uncertainty

2013 ◽  
Author(s):  
Zhi-Chang Qin ◽  
Shun Zhong ◽  
Jian-Qiao Sun
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Model Uncertainty ◽  
Sliding Mode ◽  
Target System ◽  
Flexible Link ◽  
Parameter Uncertainties ◽  
Mode Control ◽  
Nonlinear Mechanical ◽  
Nonlinear Mechanical Systems

This paper presents simulation and experimental results of sliding mode control of nonlinear mechanical systems with time delay in the control loop. A flexible link oscillator made by Quanser is used as the target system. Geometric nonlinearity of the spring is included in the model, and the system is assumed to have parameter uncertainties. A sliding mode control with time delay is designed with the method of continuous time approximation. Both computer simulations and experiments show that the sliding mode control gives quite robust performance in the presence of model uncertainty.

scholarly journals On Chattering-Free Dynamic Sliding Mode Controller Design

2012 ◽  
Vol 2012 ◽  
pp. 1-7 ◽  
Author(s):  
Jeang-Lin Chang
Keyword(s):  
Sliding Mode Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Control Law ◽  
Mode Control ◽  
Chattering Free ◽  
Dynamic Sliding Mode Control ◽  
System States ◽  
Dynamic Sliding Mode ◽  
Free Dynamic

For a class of linear MIMO uncertain systems, a dynamic sliding mode control algorithm that avoids the chattering problem is proposed in this paper. Without using any differentiator, we develop a modified asymptotically stable second-order sliding mode control law in which the proposed controller can guarantee the finite time convergence to the sliding mode and can show that the system states asymptotically approach to zero. Finally, a numerical example is explained for demonstrating the applicability of the proposed scheme.

scholarly journals High Order Sliding Mode Control for Suppression of Nonlinear Dynamics in Mechanical Systems with Friction

10.5772/15994 ◽  
2011 ◽  
Author(s):  
Rogelio Hernandez ◽  
America Morales ◽  
Norberto Flores ◽  
Eliseo Hernandez ◽  
Hector Puebl
Keyword(s):  
Nonlinear Dynamics ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
High Order ◽  
Mode Control
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