Title :
A modified variable structure regulator for a class of mechanical systems
Author :
Muraca, P. ; Picardi, C. ; Pugliese, P.
Author_Institution :
Dipartimento Elettrico, Inf. e Sistemistica, Calabria Univ., Italy
Abstract :
This paper proposes a new regulator design for mechanical systems, using the theory of variable structure systems. The proposed control law needs no inversion of the inertia matrix and no evaluation of its derivative. The chattering phenomenon is avoided by using a pair of switching lines for each generalized coordinate
Keywords :
control system synthesis; variable structure systems; chattering; mechanical systems; modified variable structure regulator; switching lines; variable structure systems; Control systems; Force control; Mechanical systems; Mechanical variables control; Nonlinear control systems; Nonlinear systems; Regulators; Sliding mode control; Variable structure systems; Velocity control;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325017
