Modified sliding mode controller for a class of nonlinear multi-input systems

Author

Xu, Jian-Xin ; Lee, Tong Heng ; He, Chen

Author_Institution

Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore

fYear

1996

fDate

5-6 Dec 1996

Firstpage

55

Lastpage

60

Abstract

A modified sliding mode controller with continuous switching is proposed for a class of nonlinear multi-input systems. The control design consists of first choosing a set of suitable sliding sectors, instead of conventional sliding surfaces, then constructing a continuous switching controller. It is shown that, the global attractiveness and stability of the sliding sectors are guaranteed with the continuous switching control strategy. While retaining the robustness property of general sliding mode control, the modified sliding mode controller provides much smoother control signals. Trajectory control of a two-link robot is investigated to show the effectiveness of the new method

Keywords

control system synthesis; multivariable control systems; nonlinear control systems; robust control; variable structure systems; continuous switching controller; control design; global attractiveness; modified sliding mode controller; nonlinear multi-input systems; robustness; sliding sectors; stability; trajectory control; two-link robot; Adaptive control; Control systems; Helium; Nonlinear control systems; Programmable control; Robust control; Shape control; Sliding mode control; Stability; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Variable Structure Systems, 1996. VSS '96. Proceedings., 1996 IEEE International Workshop on

Conference_Location

Tokyo

Print_ISBN

0-7803-3718-2

Type

conf

DOI

10.1109/VSS.1996.578553

Filename

578553