Title :
On sliding mode control of uncertain mechanical systems
Author :
Wang, Yuzhuo Joe ; Flashner, Henryk
Author_Institution :
Spectrum Astro Inc., Manhattan Beach, CA, USA
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;
Conference_Titel :
Aerospace Conference, 1998 IEEE
Conference_Location :
Snowmass at Aspen, CO
Print_ISBN :
0-7803-4311-5
DOI :
10.1109/AERO.1998.686808
