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The slippery road to sliding control: conventional versus dynamical sliding mode control
Author(s) -
Van De Wal Marc,
De Jager Bram,
Veldpaus Frans
Publication year - 1998
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(199805)8:6<535::aid-rnc341>3.0.co;2-l
Subject(s) - control theory (sociology) , robustness (evolution) , sliding mode control , nonlinear system , mimo , robust control , computer science , control engineering , controller (irrigation) , mode (computer interface) , engineering , control (management) , artificial intelligence , physics , quantum mechanics , operating system , computer network , agronomy , biochemistry , chemistry , channel (broadcasting) , biology , gene
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. © 1998 John Wiley & Sons, Ltd.