Theory and implementation of sliding mode control with perturbation estimation (SMCPE)

Author

Elmali, Hakan ; Olgac, Nejat

Author_Institution

Dept. of Mech. Eng., Connecticut Univ., Storrs, CT, USA

fYear

1992

fDate

12-14 May 1992

Firstpage

2114

Abstract

A novel approach, sliding mode control with perturbation estimation (SMCPE), is presented to remove the restrictions of SMC about the a priori upperbound knowledge for the perturbations and to improve the tracking performance. It does not require the a priori knowledge of the upper bounds of the uncertainties and it offers much better tracking accuracies. However, SMCPE requires that the control loop speeds be reasonably faster than the perturbation dynamics. The success of SMCPE applications is closely related to the precision of the state measurements. Experimental justifications are presented from the applications of SMCPE on a SCARA-type Hitachi robot

Keywords

State estimation; dynamics; perturbation techniques; position control; robots; state estimation; variable structure systems; SCARA-type Hitachi robot; perturbation dynamics; perturbation estimation; sliding mode control; state measurements; tracking; Control systems; Frequency estimation; Mechanical engineering; Nonlinear dynamical systems; Robust control; Robustness; Sliding mode control; State estimation; Trajectory; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Conference_Location

Nice

Print_ISBN

0-8186-2720-4

Type

conf

DOI

10.1109/ROBOT.1992.219969

Filename

219969