Discrete-time second order sliding mode with time delay control for uncertain robot manipulators

2017 ◽  
Vol 94 ◽  
pp. 53-60 ◽  
Author(s):  
Yassine Kali ◽  
Maarouf Saad ◽  
Khalid Benjelloun ◽  
Abdelilah Fatemi
Keyword(s):  
Time Delay ◽  
Discrete Time ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Second Order ◽  
Time Delay Control ◽  
Delay Control ◽  
Uncertain Robot ◽  
Second Order Sliding Mode

Sliding Mode with Time Delay Control for Robot Manipulators

2016 ◽  
pp. 135-156 ◽  
Author(s):  
Yassine Kali ◽  
Maarouf Saad ◽  
Khalid Benjelloun ◽  
Mohammed Benbrahim
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Time Delay Control ◽  
Delay Control

scholarly journals Stability Analysis of a Class of Second Order Sliding Mode Control Including Delay in Input

2013 ◽  
Vol 2013 ◽  
pp. 1-9
Author(s):  
Pedro R. Acosta
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Second Order ◽  
Control Input ◽  
Sliding Surface ◽  
Numerical Examples ◽  
Mode Control ◽  
Second Order Sliding Mode

This paper deals with a class of second order sliding mode systems. Based on the derivative of the sliding surface, sufficient conditions are given for stability. However, the discontinuous control signal depend neither on the derivative of sliding surface nor on its estimate. Time delay in control input is also an important issue in sliding mode control for engineering applications. Therefore, also sufficient conditions are given for the time delay size on the discontinuous input signal, so that this class of second order sliding mode systems might have amplitude bounded oscillations. Moreover, amplitude of such oscillations may be estimated. Some numerical examples are given to validate the results. At the end, some conclusions are given on the possibilities of the results as well as their limitations.

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