Open AccessDynamic compensator‐based second‐order sliding mode controller design for mechanical systems
Author(s) -
Chang JeangLin
Publication year - 2013
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2012.1027
Subject(s) - control theory (sociology) , control engineering , controller (irrigation) , mode (computer interface) , sliding mode control , computer science , mechanical system , output feedback , engineering , nonlinear system , control (management) , physics , artificial intelligence , quantum mechanics , agronomy , biology , operating system
For mechanical systems using displacement measurements only, this study presents a dynamic compensator‐based second‐order sliding mode control algorithm without using any observer structure to estimate the velocity. Introducing the compensator into the sliding variable, a modified asymptotically stable second‐order sliding mode control is developed. The proposed low‐order dynamic controller inherently has low‐pass filter property in which the effect of differentiators can be obtained. Using singular perturbation theory, the authors show that the system state is finally constrained in a small bound region when the gain is high enough. Finally, a numerical example is explained for demonstrating the applicability of the proposed scheme.