Quasi-continuous high-order sliding-mode controllers

2004 ◽  
Author(s):  
A. Levant
Keyword(s):  
Sliding Mode ◽  
High Order ◽  
Sliding Mode Controllers

Novel quasi-continuous super-twisting high-order sliding mode controllers for output feedback tracking control of robot manipulators

2014 ◽  
Vol 228 (17) ◽  
pp. 3240-3257 ◽  
Author(s):  
Mien Van ◽  
Hee-Jun Kang ◽  
Kyoo-Sik Shin
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Sliding Mode ◽  
Second Order ◽  
High Order ◽  
Sliding Mode Controller ◽  
Sliding Mode Controllers ◽  
Sliding Manifold ◽  
Feedback Tracking ◽  
Second Order Sliding Mode

In this paper, a robust output feedback tracking control scheme for uncertain robot manipulators with only position measurements is investigated. First, a quasi-continuous second-order sliding mode (QC2S)-based exact differentiator and super-twisting second-order sliding mode (STW2S) controllers are designed to guarantee finite time convergence. Although the QC2S produces continuous control and less chattering than that of a conventional sliding mode controller and other high-order sliding mode controllers, a large amount of chattering exists when the sliding manifold is defined by the equation [Formula: see text]. To decrease the chattering, an uncertainty observer is used to compensate for the uncertainty effects, and this controller may possess a smaller switching gain. Compared to the QC2S controller, the STW2S has less chattering and tracking error when the system remains on the sliding manifold [Formula: see text]. Therefore, to further eliminate the chattering and obtain a faster transient response and higher tracking precision, we develop a quasi-continuous super-twisting second-order sliding mode controller, which integrates both the merits of QC2S and STW2S controllers. The stability and convergence of the proposed scheme are theoretically demonstrated. Finally, computer simulation results for a PUMA560 robot comparing with conventional QC2S and STW2S controllers are shown to verify the effectiveness of the proposed algorithm.

scholarly journals ADJUSTMENT OF HIGH-ORDER SLIDING-MODE CONTROLLERS

2005 ◽  
Vol 38 (1) ◽  
pp. 866-871 ◽  
Author(s):  
Arie Levant ◽  
Alon Michael
Keyword(s):  
Sliding Mode ◽  
High Order ◽  
Sliding Mode Controllers
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