Multi-Phase-Based Optimal Slip Ratio Tracking Control of Aircraft Antiskid Braking System via Second-Order Sliding Mode Approach

For spacecraft attitude tracking system, there exists the chattering phenomenon. In this paper, the spacecraft motion is decomposed into three-channel subsystems, and a second-order sliding mode control is proposed. This method has been proved to have good convergence and robustness. Combined with the proposed sliding surface, the three-channel controllers are designed. The control performance is confirmed by the simulation results, the approaching process is improved effectively, and a smooth transition is achieved without overshoot and buffeting.

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Tracking Control of a Skid Steered Mobile Robot with Adaptive Robust Second Order Sliding-Mode Controller

2019 IEEE International Conference on Industrial Engineering and Engineering Management (IEEM) ◽

10.1109/ieem44572.2019.8978759 ◽

2019 ◽

Author(s):

Ruidong Xi ◽

Lulu Tang

Keyword(s):

Mobile Robot ◽

Tracking Control ◽

Sliding Mode ◽

Second Order ◽

Sliding Mode Controller ◽

Second Order Sliding Mode

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Novel quasi-continuous super-twisting high-order sliding mode controllers for output feedback tracking control of robot manipulators

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406214526828 ◽

2014 ◽

Vol 228 (17) ◽

pp. 3240-3257 ◽

Cited By ~ 2

Author(s):

Mien Van ◽

Hee-Jun Kang ◽

Kyoo-Sik Shin

Keyword(s):

Output Feedback ◽

Tracking Control ◽

Sliding Mode ◽

Second Order ◽

High Order ◽

Sliding Mode Controller ◽

Sliding Mode Controllers ◽

Sliding Manifold ◽

Feedback Tracking ◽

Second Order Sliding Mode

In this paper, a robust output feedback tracking control scheme for uncertain robot manipulators with only position measurements is investigated. First, a quasi-continuous second-order sliding mode (QC2S)-based exact differentiator and super-twisting second-order sliding mode (STW2S) controllers are designed to guarantee finite time convergence. Although the QC2S produces continuous control and less chattering than that of a conventional sliding mode controller and other high-order sliding mode controllers, a large amount of chattering exists when the sliding manifold is defined by the equation [Formula: see text]. To decrease the chattering, an uncertainty observer is used to compensate for the uncertainty effects, and this controller may possess a smaller switching gain. Compared to the QC2S controller, the STW2S has less chattering and tracking error when the system remains on the sliding manifold [Formula: see text]. Therefore, to further eliminate the chattering and obtain a faster transient response and higher tracking precision, we develop a quasi-continuous super-twisting second-order sliding mode controller, which integrates both the merits of QC2S and STW2S controllers. The stability and convergence of the proposed scheme are theoretically demonstrated. Finally, computer simulation results for a PUMA560 robot comparing with conventional QC2S and STW2S controllers are shown to verify the effectiveness of the proposed algorithm.

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