Title :
A new method of switching surface design for multivariable variable structure systems
Author :
Lee, Ju-Jang ; Xu, Yangsheng
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
fDate :
2/1/1994 12:00:00 AM
Abstract :
In this paper, we discuss the problem of the switching surface for a multivariable variable structure system. We first propose a new switching surface by which robustness of the controlled system to disturbances is provided. Based on the switching surface, we develop control input to drive the system to track the desired trajectory. This control input does not produce the chattering that normally occurs when a conventional control input is used. We apply the proposed method to a multivariable linear system and discuss the simulation results to show the computational procedure and its effectiveness
Keywords :
feedback; linear systems; multivariable control systems; stability; variable structure systems; linear system; multivariable variable structure systems; robustness; switching surface design; trajectory tracking; Computational modeling; Control systems; Linear systems; Motion control; Robot sensing systems; Robust control; Sliding mode control; Time varying systems; Trajectory; Variable structure systems;
Journal_Title :
Automatic Control, IEEE Transactions on
