Experimental robustness study of a second-order sliding mode controller

A. Blom; A.G. Jager, de

doi:10.1115/1.2801144

Experimental robustness study of a second-order sliding mode controller

A. Blom
, A.G. Jager, de

Control Systems Technology

Research output: Contribution to journal › Article › Academic › peer-review

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Abstract

The design of a Second-Order Sliding Mode Controller is discussed and guidelines are given for tuning. The robustness to unmodeled dynamics and parameter-errors is investigated and tested in an experimental case study. The experimental results, as far as robustness to unmodeled dynamics is concerned, are not better than for a traditional PD-controller. When robustness to parameter-errors is concerned the Second-Order Sliding Mode Controller performs slightly better.

Original language	English
Pages (from-to)	184-187
Journal	Journal of Dynamic Systems, Measurement and Control : Transactions of the ASME
Volume	118
Issue number	1
DOIs	https://doi.org/10.1115/1.2801144
Publication status	Published - 1996

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title = "Experimental robustness study of a second-order sliding mode controller",

abstract = "The design of a Second-Order Sliding Mode Controller is discussed and guidelines are given for tuning. The robustness to unmodeled dynamics and parameter-errors is investigated and tested in an experimental case study. The experimental results, as far as robustness to unmodeled dynamics is concerned, are not better than for a traditional PD-controller. When robustness to parameter-errors is concerned the Second-Order Sliding Mode Controller performs slightly better.",

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AB - The design of a Second-Order Sliding Mode Controller is discussed and guidelines are given for tuning. The robustness to unmodeled dynamics and parameter-errors is investigated and tested in an experimental case study. The experimental results, as far as robustness to unmodeled dynamics is concerned, are not better than for a traditional PD-controller. When robustness to parameter-errors is concerned the Second-Order Sliding Mode Controller performs slightly better.

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M3 - Article

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JF - Journal of Dynamic Systems, Measurement and Control : Transactions of the ASME

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Experimental robustness study of a second-order sliding mode controller

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