On sliding mode control of uncertain mechanical systems

Author

Wang, Yuzhuo Joe ; Flashner, Henryk

Author_Institution

Spectrum Astro Inc., Manhattan Beach, CA, USA

Volume

1

fYear

1998

fDate

21-28 Mar 1998

Firstpage

85

Abstract

A sliding mode control law is proposed for regulation control of a class of uncertain mechanical systems. The algorithm uses only the bounds of uncertainties and disturbances and does not require matching conditions. The existence of a sliding mode, its closed loop stability, and its robustness characteristics are proved by using Lyapunov´s stability theory. The proposed control is shown to be robustly stable with respect to parameter variations and external disturbances. Examples are given to demonstrate the application and performance of the proposed approach

Keywords

Lyapunov methods; closed loop systems; nonlinear dynamical systems; robust control; uncertain systems; variable structure systems; Lyapunov´s stability theory; closed loop stability; disturbance bounds; external disturbances; parameter variations; regulation control; robustness characteristics; sliding mode control; uncertain mechanical systems; uncertainty bounds; Biographies; Control systems; Lyapunov method; Mechanical engineering; Mechanical systems; Mechanical variables control; Robust control; Robust stability; Sliding mode control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Aerospace Conference, 1998 IEEE

Conference_Location

Snowmass at Aspen, CO

ISSN

1095-323X

Print_ISBN

0-7803-4311-5

Type

conf

DOI

10.1109/AERO.1998.686808

Filename

686808