Performance Comparison Between Higher-Order Sliding Mode and Fixed Boundary Layer Sliding Mode Controller for a 10-DoF Bipedal Robot

2021 ◽  
pp. 45-62
Author(s):  
Koceila Cherfouh ◽  
Jason Gu ◽  
Umar Farooq ◽  
Muhammad Usman Asad ◽  
Rajeeb Dey ◽  
...  
Keyword(s):  
Boundary Layer ◽  
Sliding Mode ◽  
Higher Order ◽  
Performance Comparison ◽  
Sliding Mode Controller ◽  
Bipedal Robot ◽  
Fixed Boundary

scholarly journals Robust Control Design using Discrete Sliding Mode Control for Higher-Order Uncertain Systems

2020 ◽  
Vol 9 (3) ◽  
pp. 3055-3063
Keyword(s):  
Sliding Mode ◽  
Linear Time ◽  
Higher Order ◽  
Delay Systems ◽  
Phase System ◽  
Sliding Mode Controller ◽  
Error Performance ◽  
Process Output ◽  
Observer Model ◽  
Robust Control Design

This paper considers a tracking problem on discrete-time higher-order linear time-delay systems. The improved observer-model following sliding mode controller (OMF-SMC) is proposed. The combination uses a classical Luyenberger observer based controller to achieve predefined process output and sliding mode controller is added to assure the robustness despite of uncertainty and external disturbances. To show the effectiveness of proposed method, four error performance indices, maximum peak overshoot and settling time are considered rigorously. The simulations results on the non-oscillatory, moderate oscillatory, integrating, unstable and non-minimum phase system demonstrates that the proposed approach performs better compared with classical PID controller, continuous and discrete sliding mode controllers.

Design of higher-order sliding mode controller based on genetic algorithm for a cooperative robotic system

2019 ◽  
Vol 8 (1) ◽  
pp. 269-277 ◽  
Author(s):  
Maryam Farahmandrad ◽  
Soheil Ganjefar ◽  
Heidar Ali Talebi ◽  
Mahdi Bayati
Keyword(s):  
Genetic Algorithm ◽  
Sliding Mode ◽  
Higher Order ◽  
Robotic System ◽  
Sliding Mode Controller

scholarly journals A Higher Order Sliding Mode Controller-Observer for Marine Vehicles

2019 ◽  
Vol 52 (21) ◽  
pp. 341-346
Author(s):  
Karl D. von Ellenrieder ◽  
Helen C. Henninger
Keyword(s):  
Sliding Mode ◽  
Higher Order ◽  
Sliding Mode Controller ◽  
Marine Vehicles

Model validation and higher order sliding mode controller design for a research reactor

2009 ◽  
Vol 36 (1) ◽  
pp. 37-45 ◽  
Author(s):  
S.H. Qaiser ◽  
A.I. Bhatti ◽  
Masood Iqbal ◽  
R. Samar ◽  
J. Qadir
Keyword(s):  
Model Validation ◽  
Research Reactor ◽  
Controller Design ◽  
Sliding Mode ◽  
Higher Order ◽  
Sliding Mode Controller
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