제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
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- Pages.151.4-151
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- 2001
Chattering-Free Sliding Mode Control with a Time-Varying Sliding Surface
- Kyung, Tai-Hyun (Pusan National Univ.) ;
- Kim, Jong-Shik (Pusan National Univ.) ;
- Lee, Kyu-Joon (ADD)
- 발행 : 2001.10.01
초록
Chattering-free sliding mode control is derived from the reaching law method and Lyapunov stability theorem. Its control input Is composed of continuous term and discontinuous term. By the combination of these terms, the robustness and tracking performance can be improved and the chattering can be avoided. But in the reaching mode, the sliding mode control is sensitive to the modeling uncertainties, parameter variations and disturbances, also it needs a large control input. These result in poor transient responses. In this paper, to overcome these problems in the reaching mode, a time-varying sliding surface is proposed. And it is applied to a 2-link SCARA robot manipulator, experimental results show that the transient response is improved and its ...
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