Proceedings ArticleDOI
Integral sliding mode in systems operating under uncertainty conditions
Vadim I. Utkin,Jingxin Shi +1 more
- Vol. 4, pp 4591-4596
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TLDR
The paper generalized a new sliding mode design concept, namely integral sliding mode (ISM), and removes the discontinuous control action from the real control path and inserts it to an internal dynamic process for generating the sliding mode to alleviate chattering.Abstract:
The paper generalized a new sliding mode design concept, namely integral sliding mode (ISM). The order of the motion equation in ISM is equal to the order of the original system, rather than reduced by the number of dimension of the control input. As the result, robustness of the system can be guaranteed throughout an entire response of the system starting from the initial time instance. Uniform formulations of the ISM design principle are developed in the paper. It is shown through examples that our generalized ISM scheme enables a wide scope of application areas. In the case that the given control matrix can not be used directly for generating the sliding mode, the associated decoupling problem was also discussed based on the concept of sliding mode transformation. To alleviate chattering, we remove the discontinuous control action from the real control path and insert it to an internal dynamic process for generating the sliding mode.read more
Citations
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Journal ArticleDOI
Sliding-Mode Control for Systems With Mismatched Uncertainties via a Disturbance Observer
Jun Yang,Shihua Li,Xinghuo Yu +2 more
TL;DR: A DOB-based SMC method is developed in this paper to counteract the mismatched disturbance and exhibits much better control performance than the baseline SMC and the integral SMC (I-SMC) methods, such as reduced chattering and nominal performance recovery.
Journal ArticleDOI
Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue
Teodor Tomic,Korbinian Schmid,Philipp Lutz,Andreas Dömel,Michael Kassecker,Elmar Mair,Iris Grixa,Felix Ruess,Michael Suppa,Darius Burschka +9 more
TL;DR: This article presents an unmanned aircraft system design fulfillingUrban search and rescue missions raise special requirements on robotic systems, and uses both laser and stereo vision odometry to enable seamless indoor and outdoor navigation.
Journal ArticleDOI
Analysis and design of integral sliding manifolds for systems with unmatched perturbations
Fernando Castaños,Leonid Fridman +1 more
TL;DR: This note shows how to select the projection matrix in such a way that the euclidean norm of the resulting perturbation is minimal, which is particularly useful if integral sliding-mode control is to be combined with other methods to further robustify against unmatched perturbations.
Journal ArticleDOI
Brief paper: Higher order sliding mode control based on integral sliding mode
TL;DR: It is shown that the problem is equivalent to the finite time stabilization of higher order input-output dynamics with bounded uncertainties ([email protected]?N).
Journal ArticleDOI
Adaptive finite-time control of nonlinear systems with parametric uncertainty
TL;DR: To achieve finite-time stabilization, a constructive control design approach is proposed by following backstepping methodology, and an adaptive finite- time control law is obtained in the form of continuous time-invariant feedback.
References
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Journal ArticleDOI
Sliding mode control design principles and applications to electric drives
TL;DR: The main arguments in favor of sliding-mode control are order reduction, decoupling design procedure, disturbance rejection, insensitivity to parameter variations, and simple implementation by means of power converters.
Journal ArticleDOI
Sliding controller design for non-linear systems
TL;DR: In this paper, a trade-off between tracking precision and robustness to modelling uncertainty is presented, where tracking accuracy is sot according to the extent, of parametric uncertainty and the frequency range of unmodelled dynamics.
Journal ArticleDOI
The Robust Control of Robot Manipulators
TL;DR: The methodology is compared with standard algorithms such as the computed torque method and is shown to combine in practice improved performance with simpler and more tractable controller designs.
Journal ArticleDOI
MOSFET Converter-Fed Position Servo System with Sliding Mode Control
TL;DR: In this article, a sliding curve is used instead of a straight line to define the sliding curve in such a way that in general the system responds following a max acceleration curve, then a max speed curve, and finally a max deceleration curve.
Proceedings ArticleDOI
Sliding mode control design based on Ackermann's formula
Jürgen Ackermann,Vadim I. Utkin +1 more
TL;DR: In this article, the sliding mode control methods are developed to design systems which have the desired dynamic behavior and are robust with respect to perturbations, and it is shown that the discontinuity plane can be found in an explicit form using Ackermann's formula.