Title :
An improved sliding mode control
Author :
Olgac, Nejat ; Iragavarapu, Venkata R.
Author_Institution :
Dept. of Mech. Eng., Connecticut Univ. Storrs, CT, USA
Abstract :
The trajectory tracking problem of a nonlinear system is considered. A new format of selecting a robust control is presented for a general class of nonlinear, time-varying systems with modeling uncertainties. A chronic problem in the sliding mode control technique is the undesirable oscillations of the controls even with small amplitudes. The earlier proposed strategies for smoothing only attenuate them. The control law presented removes these oscillations
Keywords :
nonlinear control systems; position control; time-varying systems; nonlinear system; oscillations; robust control; sliding mode control; time-varying systems; trajectory tracking problem; Control systems; Frequency; Mechanical engineering; Nonlinear control systems; Nonlinear systems; Robust control; Sliding mode control; Smoothing methods; Time varying systems; Trajectory; Uncertainty;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371361
