Variable structure controller for robot manipulators using time-varying sliding surface

Park, K.-B.; Lee, J.-J.

doi:10.1109/robot.1993.291966

Cited by 12 publications

(14 citation statements)

References 7 publications

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“…Remark 1: Actually, the sliding function defined in (19) is an extension of the time-varying sliding function investigated in [21] and [22]. In particular, in [21], it was proved that a global sliding mode would be achieved by using the sliding function like (19) with f (t) selected as the exponential decay function f (t) = e −κt and κ > 0.…”

Section: Asmc-ii Algorithm Designmentioning

confidence: 99%

“…In particular, in [21], it was proved that a global sliding mode would be achieved by using the sliding function like (19) with f (t) selected as the exponential decay function f (t) = e −κt and κ > 0. However, due to the sensor noise, the initial system error can not be entirely cancelled.…”

Section: Asmc-ii Algorithm Designmentioning

confidence: 99%

“…Therefore, in this paper, we introduce a weight in the decay function, e.g., let f (t) = pe −κt with p ∈ [0, 1] in the following derivations, which will produce an initial departure from the sliding surface purposefully to speed up the adaptive process. When p = 0, the sliding function in (19) turns out to be the sliding function in (11); whereas if p = 1, it becomes the total time-varying sliding function studied in [21].…”

Section: Asmc-ii Algorithm Designmentioning

confidence: 99%

“…However, from the adaptation law in (21), one can see that the switching gaind will keep increasing if S(t) = 0. When d increases up to a value large enough to suppress the lumped uncertainty, e.g.,d > d max + δ with δ a sufficiently small positive scalar, the sliding mode will start in finite time.…”

Section: Remarkmentioning

confidence: 99%

See 3 more Smart Citations

Adaptive sliding mode control for spacecraft attitude maneuvers with reduced or eliminated reaching phase

Cong

Liu

Chen

2012

Proceedings of 2012 UKACC International Conference on Control

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This paper aims to present an improved adaptive sliding mode control (ASMC) design for rigid spacecraft attitude maneuvers. An adaptive scheme is proposed for the switching gain calculation when the upper bound of the system uncertainty is unknown in advance. Unlike existing ASMC design, which may result in an over-adaptation of the upper bound when the initial system trajectory is located far from the sliding surface, this paper presents a novel ASMC strategy by introducing a decay term in the sliding function to reduce or eliminate the unrelated factor in the adaptation scheme. Consequently, a lower-chattering control signal is achieved. Simulation results are presented to illustrate the effectiveness of the proposed strategy.

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Section: Asmc-ii Algorithm Designmentioning

confidence: 99%

Section: Asmc-ii Algorithm Designmentioning

confidence: 99%

Section: Asmc-ii Algorithm Designmentioning

confidence: 99%

Section: Remarkmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive sliding mode control for spacecraft attitude maneuvers with reduced or eliminated reaching phase

Cong

Liu

Chen

2012

Proceedings of 2012 UKACC International Conference on Control

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“…In order to improve such problem, the concept of time-varying sliding surface is introduced. The time-varying sliding surface is firstly chosen to pass arbitrary initial conditions and subsequently moved towards a predetermined sliding surface by means of rotating and/or shifting [9], [10]. From intuition, the conditions for rotating or shifting can be determined in the second-order case, that is, we shift the sliding surface if the representative point (RP) is in the first or third quadrants, and rotate otherwise.…”

Section: Introductionmentioning

confidence: 99%

Model-Following Control of Single-Phase Inverters Using Time-Varying Sliding Surface

Chang

Kuo

2011

2011 First International Conference on Robot, Vision and Signal Processing

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In this paper, a model-following controller (MFC) using time-varying sliding surface (TVSS) instead of fixed sliding surface is proposed. We will introduce a strategy that combines MFC and TVSS. The objective of MFC is to minimize the differences of the states of the reference model and the controlled plant. The TVSS ensures the sliding mode occurrence from an arbitrary initial state, whereas the fixed sliding surface can not achieve the robustness subject to parameter variations and disturbances before the sliding mode occurs. The proposed controller applied to single-phase inverters can attain the accurately sinusoidal tracking in the presence of load disturbance and plant parameter variation. Design procedures, and computer simulations for an inverter system are presented to demonstrate the good performance of the proposed controller.

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Variable structure tracking control of a single-link flexible arm using time-varying sliding surface

Fung

Lee

1999

J. Robotic Syst.

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Variable structure controller for robot manipulators using time-varying sliding surface

Cited by 12 publications

References 7 publications

Adaptive sliding mode control for spacecraft attitude maneuvers with reduced or eliminated reaching phase

Adaptive sliding mode control for spacecraft attitude maneuvers with reduced or eliminated reaching phase

Model-Following Control of Single-Phase Inverters Using Time-Varying Sliding Surface

Variable structure tracking control of a single-link flexible arm using time-varying sliding surface

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