Title :
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
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;
Conference_Titel :
Variable Structure Systems, 1996. VSS '96. Proceedings., 1996 IEEE International Workshop on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-3718-2
DOI :
10.1109/VSS.1996.578553
