抄録
In the application of Sliding Mode Controllers, the main problems that are encountered are chattering and computational power required for the calculation of equivalent control. In this paper, novel approaches for the design of SMC based on the selection of a Lyapunov function are proposed for motion control applications that evade these problems and are easily implementable. A general criterion is established for stability and chattering elimination. Two novel schemes are proposed for the estimation of the equivalent control to avoid the computational burden. Simulation studies carried out on a direct drive arm indicate that the proposed approaches are a good candidate for motion control applications.
| 本文言語 | English |
|---|---|
| ページ | 407-412 |
| ページ数 | 6 |
| 出版ステータス | Published - 1996 1月 1 |
| イベント | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn 継続期間: 1996 3月 18 → 1996 3月 21 |
Other
| Other | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) |
|---|---|
| City | Tsu, Jpn |
| Period | 96/3/18 → 96/3/21 |
ASJC Scopus subject areas
- 制御およびシステム工学
- モデリングとシミュレーション
- コンピュータ サイエンスの応用
- 電子工学および電気工学