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.
|Place of Publication||Eindhoven|
|Publisher||Eindhoven University of Technology|
|Number of pages||34|
|Publication status||Published - 2013|