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Sliding Modes in Motion Control Systems

Şabanoviç, Asif and Önal, Çağdaş Denizel and Şabanoviç, Nadira (2005) Sliding Modes in Motion Control Systems. AUTOMATIKA, 46 (1-2). pp. 17-27. ISSN 0005-1144

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Official URL: http://www.korema.hr/automatika/2005/1-2/index.html#sliding

Abstract

In this paper we discuss the realization of motion control systems in the sliding mode control (SMC) frame- work. Any motion control system design should take into account the unconstrained motion (generally perceived as a trajectory tracking) and motion of the system in contact with unknown environment (perceived as force con- trol and/or compliance control.) In the SMC framework control is selected to enforce certain preselected depend- ence among system coordinates, what is interpreted as forcing the system state to stay in selected manifold in state space. ln this paper it has been shown that such a formulation allows a unified treatment of the both un- constrained and constrained motion control and, due to the Lyapunov based design, it guaranty the stability of the motion. Moreover control design in this framework allows extension of the solution to control design in in- terconnected dynamical systems (like mobile robots or bilateral systems).

Item Type:Article
Uncontrolled Keywords:Motion Control;Sliding Mode;Hybrid Control;Nonlinear Control;Interconnected Systems
Subjects:T Technology > TJ Mechanical engineering and machinery
ID Code:85
Deposited By:Asif Şabanoviç
Deposited On:05 Dec 2006 02:00
Last Modified:28 Aug 2007 22:43

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