TY - JOUR
T1 - The slippery road to sliding control : conventional versus dynamical sliding mode control
AU - Wal, van de, M.M.J.
AU - Jager, de, A.G.
AU - Veldpaus, F.E.
PY - 1998
Y1 - 1998
N2 - Theory and design of a conventional sliding mode controller (CSMC) and a dynamical sliding mode controller (DSMC) are discussed and compared. The controllers are applicable to uncertain nonlinear MIMO systems. Emphasis is put on handling of unmodelled dynamics, tuning of controller parameters, suppression of chattering, and robust tracking performance. Experiments are performed with a mechanical manipulator. Errors in the model of this manipulator are due to, amongst other things, neglected flexibilities. It is concluded that for this set-up the robustness to these model-reality differences is approximately the same for both controllers, while nominal performance is best for the CSMC.
AB - Theory and design of a conventional sliding mode controller (CSMC) and a dynamical sliding mode controller (DSMC) are discussed and compared. The controllers are applicable to uncertain nonlinear MIMO systems. Emphasis is put on handling of unmodelled dynamics, tuning of controller parameters, suppression of chattering, and robust tracking performance. Experiments are performed with a mechanical manipulator. Errors in the model of this manipulator are due to, amongst other things, neglected flexibilities. It is concluded that for this set-up the robustness to these model-reality differences is approximately the same for both controllers, while nominal performance is best for the CSMC.
U2 - 10.1002/(SICI)1099-1239(199805)8:6<535::AID-RNC341>3.0.CO;2-L
DO - 10.1002/(SICI)1099-1239(199805)8:6<535::AID-RNC341>3.0.CO;2-L
M3 - Article
SN - 1049-8923
VL - 8
SP - 535
EP - 549
JO - International Journal of Robust and Nonlinear Control
JF - International Journal of Robust and Nonlinear Control
IS - 6
ER -