Hybrid sliding mode control of a two-link robotic arm

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Abstract

With high robustness, sliding mode controllers (SMC) are excellent for control of nonlinear systems. A novel way to combat chattering based on linear loop shaping techniques is presented, whereby switching between an SMC and a linear controller is used. The switching is then proven to be stable via multiple discontinuous Lyapunov functions, and implemented on a two-link planar robot.
Original languageEnglish
Place of PublicationEindhoven
PublisherEindhoven University of Technology
Number of pages34
Publication statusPublished - 2013

Publication series

NameCST
Volume2013.022

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