By Topic

A gain shaped sliding mode control scheme using filtering techniques with applications to multi-link robotic manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Jian-Xin Xu ; Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore ; Ya-Jun Pan ; Tong-Heng Lee

A gain shaped sliding mode control scheme is proposed for tracking control tasks of multi-link robotic manipulators. In the new scheme, filtering techniques play the key role in acquiring equivalent control signals and shaping the switching control gain automatically. Once the system entering the sliding motion, two classes of low-pass filters are introduced to work concurrently for the purpose of acquiring equivalent control, reducing the switching gain effectively and in the sequel eliminating chattering. By virtue of equivalent control theory, one class of filters is designed to capture the "average" profile of the switching quantity which is in proportion to the desired control input. Meanwhile, another class of low-pass filters is added to scale down the gain of the switching control. The convergence property of the proposed control scheme is rigorously analyzed in time domain, and the frequency domain knowledge can be easily incorporated into the construction of the two classes of filters. Excellent tracking performance is achieved with the direct manipulation of switching control input using the filtering technology and with the integration of both time domain and frequency domain system knowledge in the controller design

Published in:

American Control Conference, 2001. Proceedings of the 2001  (Volume:6 )

Date of Conference:

2001