Application oriented trends in sliding mode control theory

Author

Utkin, V.I.

Author_Institution

Inst. of Robotics & Syst. Dynamics, Wessling, Germany

fYear

1993

fDate

15-19 Nov 1993

Firstpage

1937

Abstract

The presentation deals with the basic concepts, design and application aspects of sliding mode control. The major attention is paid to the chattering problem. It is shown that chattering caused by unmodelled dynamics may be eliminated in systems with asymptotic observers. The chattering suppression methods are illustrated for sliding mode control design, intended for electric drives, based on reduced order models. The concept “discrete-time sliding mode” is developed for systems with digital controllers to design systems with motions free of chattering

Keywords

control system synthesis; digital control; discrete time systems; electric drives; machine control; state estimation; variable structure systems; application oriented trends; asymptotic observers; chattering suppression methods; digital controllers; discrete-time sliding mode; electric drives; reduced order models; sliding mode control theory; unmodelled dynamics; Control design; Control systems; Delay systems; Digital control; Frequency conversion; Motion control; Reduced order systems; Robots; Sliding mode control; Switching frequency;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-0891-3

Type

conf

DOI

10.1109/IECON.1993.339371

Filename

339371