이동 슬라이딩 서피스를 이용한 로봇의 빠른 추적제어

In this paper, we introduce a new sliding surface adaptable to arbitrary initial conditions. The surface is initially designed to pass given intial errors and subsequently moves towards a predetermined surface via rotating or/and shifting. We call it as a moving sliding surface (MSS) comparing with the conventional ones, for instances, employed by Slotine and Sastry. Using the MSS, it is shown that the tracking is much faster than conventional one without increasing the magnitude of discontinuous control gain. To demonstrate some advantages of the proposed method, we apply the MSS to the path tracking control of a two-degree-of-freedom robotic manipulator subjected to external disturbances.