Title :
Experimental results on smooth sliding control of uncertain systems
Author :
Peixoto, Alessandro Jacoud ; Lizarralde, Fcrnando ; Hsu, Liu
Author_Institution :
COPPE, Univ. Fed. do Rio de Janeiro, Brazil
Abstract :
Addresses the design, implementation and experimental evaluation of a sliding control scheme for uncertain systems which is free of chattering and results in smooth control signals. The proposed approach relies on an appropriate prediction error. It is shown that, in practice, successful performance of the basic sliding controller requires adequate filtering of the measured signal. A particular Kalman-filter, independent of the plant itself, is shown to yield very satisfactory experimental results obtained on a 1 d.o.f. helicopter-like mechanism
Keywords :
Kalman filters; asymptotic stability; control system synthesis; helicopters; uncertain systems; variable structure systems; 1 DOF helicopter-like mechanism; Kalman filter; prediction error; smooth control signals; smooth sliding control; uncertain systems; Control systems; Frequency; Motion control; Optical noise; PD control; Quantization; Robust stability; Signal design; Sliding mode control; Uncertain systems;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980228