A study on robustness property of sliding-mode controllers: a noveldesign and experimental investigations
Erbatur, K.
Kaynak, M.O.
Sabanovic, A.
Intelligent Syst. Group, Tubitak Marmara Res. Center, Kocaeli;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Oct 1999
Volume: 46,
Issue: 5
On page(s): 1012-1018
ISSN: 0278-0046
References Cited: 20
CODEN: ITIED6
INSPEC Accession Number: 6383643
Digital Object Identifier: 10.1109/41.793350
Current Version Published: 2002-08-06
Abstract
The robustness property of sliding-mode controllers (SMCs) makes
them attractive for industrial control applications. However, this
property is valid only under ideal sliding-mode conditions.
Additionally, practical SMCs are likely to exhibit high-frequency
oscillations in the plant output, called chattering, and to excite
unmodeled dynamics. A novel, chattering-free sliding-mode control
algorithm design, based on Lyapunov stability criteria, is considered in
this paper. The control algorithm developed is experimentally
implemented on a direct-drive manipulator for various payload
configurations. It is seen that the controller carries a certain amount
of robustness property, the trajectory-following performance being only
slightly affected by the changes in the payload. A comparison of the
experimental results with those obtained by a well-tuned
proportional-derivative control is also given
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