Book•
Sliding mode control : theory and applications
27 Aug 1998-
TL;DR: This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of state-space methods.
Abstract: In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. Sliding mode control theory seeks to produce controllers to over some such mismatches. This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of state-space methods. From this basis, more advanced theoretical results are developed. Two industrial case studies, which present the results of sliding mode controller implementations, are used to illustrate the successful practical application theory.
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01 Jan 2006
TL;DR: This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system.
Abstract: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms. The treatment is centered on robot motion planning but integrates material on planning in discrete spaces. A major part of the book is devoted to planning under uncertainty, including decision theory, Markov decision processes, and information spaces, which are the “configuration spaces” of all sensor-based planning problems. The last part of the book delves into planning under differential constraints that arise when automating the motions of virtually any mechanical system. Developed from courses taught by the author, the book is intended for students, engineers, and researchers in robotics, artificial intelligence, and control theory as well as computer graphics, algorithms, and computational biology.
6,340 citations
Cites background from "Sliding mode control : theory and a..."
...This can be alleviated by regularization, which thickens the boundary [848] (the subject of sliding-mode control addresses this issue [305])....
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TL;DR: In this paper, the authors present an introductory tutorial on discontinuous dynamical systems, and present non-smooth stability tools to characterize the asymptotic behavior of solutions.
Abstract: This article has presented an introductory tutorial on discontinuous dynamical systems. Various examples illustrate the pertinence of the continuity and Lipschitzness properties that guarantee the existence and uniqueness of classical solutions to ordinary differential equations. The lack of these properties in examples drawn from various disciplines motivates the need for more general notions than the classical one. First, we introduced notions of solution for discontinuous systems. Second, we reviewed the available tools from non- smooth analysis to study the gradient information of candidate Lyapunov functions. And, third, we presented nonsmooth stability tools to characterize the asymptotic behavior of solutions.
1,022 citations
TL;DR: It is shown that a general uncertain single-input-single-output regulation problem is solvable only by means of discontinuous control laws, giving rise to the so-called high-order sliding modes, and homogeneity features significantly simplify the design and investigation of a new family of high- order sliding-mode controllers.
822 citations
TL;DR: A recently developed robust exact differentiator being applied, robust output-feedback controllers with finite-time convergence are produced, capable to control any general uncertain single-input-single-output process with relative degree 2.
760 citations
Cites methods from "Sliding mode control : theory and a..."
...Sliding-mode control (Edwards & Spurgeon, 1998; Utkin, 1992; Zinober, 1994) is considered to be one of the main methods effective under uncertainty conditions....
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TL;DR: A novel super-twisting adaptive sliding mode control law is proposed for the control of an electropneumatic actuator using dynamically adapted control gains that ensure the establishment, in a finite time, of a real second order sliding mode.
648 citations
Cites background from "Sliding mode control : theory and a..."
...Sliding mode control is one of the best choices for controlling perturbed systems with matched disturbances/uncertainties (Edwards & Spurgeon, 1998; Utkin, Guldner, & Shi, 1999)....
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...…(Y. Shtessel), Mohammed.Taleb@irccyn.ec-nantes.fr (M. Taleb), Franck.Plestan@irccyn.ec-nantes.fr (F. Plestan). for achieving the robustness/insensitivity to these disturbances is control chattering (Boiko, 2008; Edwards & Spurgeon, 1998; Fridman, 2001, 2002; Utkin et al., 1999)....
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