Digital Redesign of Sliding Mode Control Algorithms Using Saturation Function: State and Multirate Output Feedback Approach

Abera, Alemayehu Gebre-Egziabher; Bandyopadhyay, B.; Janardhanan, S.

doi:10.1109/cdc.2006.377283

Cited by 4 publications

(1 citation statement)

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“…Most of them consist on a continuous approximation of the discontinuous feedback law. A widely known alternative is the use of approximations to the sign function [2,9]. Saturation, sigmoïdes and hysteresis functions are often used, offering a continuous or smooth control signal.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Sliding Mode Control Design of a SCARA Robot Manipulator System Under Parametric Variations

Adelhedi¹,

Jribi²,

Bouteraa³

et al. 2015

JESTR

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The sliding mode control (SMC) has yet proven its efficiency through several theoretical researches. Indeed, the robotic field is recognized as one of the main SMC portals on practical implementations. The interest of this work consists in testing the SMC robustness and its reliability versus the parameters variation and model uncertainties. In this paper, an algorithm for trajectory tracking task of robot manipulators based on a SMC has been proposed. Then, aiming to deal with the presence of disturbances and parametric modeling uncertainties, the adopted control law has been extended to an adaptive SMC version based integral sliding surface, where the selection of the parameters adaptation law has been detailed. It has been proven that the adaptive control design can stabilize both position and velocity of the system, where the explicit use of the system dynamic model becomes no longer required. Simulation results performed on a SCARA robot manipulator reveal improving control acting clearly denoted by the introduction of the adaptive control design.

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Section: Introductionmentioning

confidence: 99%