An experimental comparative study of different second order sliding mode algorithms on a mechatronic actuator

Ahmed, Fayez Shakil; Laghrouche, Salah; Bagdouri, M. El

doi:10.1109/acc.2011.5990972

Cited by 1 publication

(5 citation statements)

References 32 publications

(83 reference statements)

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“…Among HOSM controllers, quasi-continuous sliding mode controllers that provide a continuous signal everywhere except s ¼ _ s ¼ 0 have been developed. [21][22][23][24][25][26] In this paper, a QC2S controller is investigated to achieve robust motion tracking for a robotic system.…”

Section: Assumptionmentioning

confidence: 99%

“…Remark 1. The velocity measurement used in the design of u eq in equations ( 9), ( 23), (26), and (35) is not available; hence, the exact velocity estimation obtained by the TOSML observer in equation ( 19) is used instead. In this case, the equivalent control is designed as…”

Section: Design Of a Quasi-continuous Super-twisting Second-order Sliding Mode Controller Based On An Uncertainty Observermentioning

confidence: 99%

“…Recently, the higherorder sliding mode (HOSM) control has been developed; it yields less chattering and better convergence accuracy compared to conventional SMC. [20][21][22][23][24][25][26][27][28][29][30][31][32][33] Unlike classical SMC, which operates on the first derivative of the sliding variable, HOSM usually uses discontinuous control acting on the higher order time derivative. By moving the switching to the higher derivatives of the control, the control signal is now continuous.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, the chattering is eliminated. Among HOSM controllers, quasi-continuous HOSM controller-based exact differentiators [21][22][23][24][25][26] and supertwisting second-order sliding mode (STW2S) controllers 21,[26][27][28][29][30][31][32][33] have been developed and widely used in real applications. The major merit of the quasicontinuous HOSM is that it produces continuous control and less chattering than other HOSM controllers.…”

Section: Introductionmentioning

confidence: 99%

“…Compared to the quasi-continuous second-mode sliding mode (QC2S) controller when the system remains on the sliding manifold, the STW2S controller provides less chattering and higher tracking precision. 26 For the states estimation, exact state observers based on the super-twisting HOSM observer have been developed. [29][30][31][32][33] Compared with the other robust observer as well as conventional sliding mode observer for state observer, the HOSM inherits two basic advantages: (1) providing the exact velocity estimation without filtration and (2) allowing properties of equivalent control to be used to identify the unknown inputs (uncertainties).…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Novel quasi-continuous super-twisting high-order sliding mode controllers for output feedback tracking control of robot manipulators

Van

Kang

Shin

2014

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a robust output feedback tracking control scheme for uncertain robot manipulators with only position measurements is investigated. First, a quasi-continuous second-order sliding mode (QC2S)-based exact differentiator and super-twisting second-order sliding mode (STW2S) controllers are designed to guarantee finite time convergence. Although the QC2S produces continuous control and less chattering than that of a conventional sliding mode controller and other high-order sliding mode controllers, a large amount of chattering exists when the sliding manifold is defined by the equation [Formula: see text]. To decrease the chattering, an uncertainty observer is used to compensate for the uncertainty effects, and this controller may possess a smaller switching gain. Compared to the QC2S controller, the STW2S has less chattering and tracking error when the system remains on the sliding manifold [Formula: see text]. Therefore, to further eliminate the chattering and obtain a faster transient response and higher tracking precision, we develop a quasi-continuous super-twisting second-order sliding mode controller, which integrates both the merits of QC2S and STW2S controllers. The stability and convergence of the proposed scheme are theoretically demonstrated. Finally, computer simulation results for a PUMA560 robot comparing with conventional QC2S and STW2S controllers are shown to verify the effectiveness of the proposed algorithm.

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