title   
  

A study on robustness property of sliding-mode controllers: a novel design and experimental investigations

Erbatur, Kemalettin and Kaynak, M. Okyay and Şabanoviç, Asif (1999) A study on robustness property of sliding-mode controllers: a novel design and experimental investigations. IEEE Transactions on Industrial Electronics, 46 (5). pp. 1012-1018. ISSN 0278-0046

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Official URL: http://dx.doi.org/10.1109/41.793350

Abstract

The robustness property of sliding-mode controllers (SMC's) makes them attractive for industrial control applications. However, this property is valid only under ideal sliding-mode conditions. Additionally, practical SMC's are likely to exhibit high-frequency oscillations in the plant output, called chattering, and to excite unmodeled dynamics. A novel, chattering-free sliding-mode control algorithm design, based on Lyapunov stability criteria, is considered in this paper. The control algorithm developed is experimentally implemented on a direct-drive manipulator for various payload configurations. It is seen that the controller carries a certain amount of robustness property, the trajectory-following performance being only slightly affected by the changes in the payload. A comparison of the experimental results with those obtained by a well-tuned proportional-derivative control is also given.

Item Type:Article
Uncontrolled Keywords:direct-drive robots; robustness; sliding-mode control
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
ID Code:13943
Deposited By:Kemalettin Erbatur
Deposited On:12 May 2010 16:33
Last Modified:25 May 2011 14:02

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