Sliding mode control: a tutorial

Spurgeon, Sarah K.

doi:10.1109/ecc.2014.6862622

Cited by 24 publications

(14 citation statements)

References 14 publications

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“…In this section, we will not compare with [10] but rather focus on comparison of control laws Eq. ( 14) and (15) to emphasize the importance of using disturbance rejection techniques for hydraulic robots. The control law Eq.…”

Section: Resultsmentioning

confidence: 99%

“…Various disturbance attenuation control methods have been proposed. These include disturbance observers [10], [11], [12], [13], sliding mode control [14], [15] and robust control [16], [17]. Most of them are designed based on linearized models of the rigid body dynamics, which could be computationally expensive especially when the Degrees-Of-Freedom (DOF) of the robot is high.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear Disturbance Attenuation Control of Hydraulic Robotics

Sandy

Buchli

2018

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the thirdorder filters are pre-defined. The proposed method is nonlinear, which does not require the linearization of the rigid body dynamics. The estimated disturbances are used by the nonlinear controller in order to achieve disturbance attenuation. The performance of the proposed approach is compared with existing approaches. Finally, the tracking performance and robustness of the proposed approach is validated extensively on real hardware by performing different tasks under either internal or both internal and external disturbances. The experimental results demonstrate the robustness and superior tracking performance of the proposed approach.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Nonlinear Disturbance Attenuation Control of Hydraulic Robotics

Sandy

Buchli

2018

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…SMC is a discontinuous controller with high frequency in the control input to cope with the nonlinearity associated with the system while stabilizing it at the same time [11]. Design of the controller involves two phases: the first is to select a sliding surface and the second is to force the trajectory of the system towards the sliding surface in the reaching phase and maintain it for a subsequent of time.…”

Section: Control Designmentioning

confidence: 99%

Aircraft pitch control tracking with sliding mode control

Latif

Nasir

Ahmad

et al. 2018

IJET

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Sliding mode control (SMC) is one of the robust and nonlinear control methods. An aircraft flying at high angles of attack is considered nonlinear due to flow separations, which cause aerodynamic characteristics in the region to be nonlinear. This paper presents the comparative assessment for the flight control based on linear SMC and integral SMC implemented on the nonlinear longitudinal model of a fighter aircraft. The controller objective is to track the pitch angle and the pitch rate throughout the high angles of attack envelope. Numerical treatments are carried out on selected conditions and the controller performances are studied based on their transient responses. Obtained results show that both SMCs are applicable for high angles of attack.

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“…This equivalent control law,

N_{e q}

, generates a continuous control signal that directs the system toward the equilibrium, where

\dot{s} = 0

…”

Section: Sliding Mode Heading Control Designmentioning

confidence: 99%

Sliding mode heading control of an overactuated, hover‐capable autonomous underwater vehicle with experimental verification

Tanakitkorn

Wilson

Turnock

et al. 2017

Journal of Field Robotics

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A sliding mode heading control system is developed for overactuated, hover‐capable autonomous underwater vehicles (AUVs) operating over a range of forward speeds. A simplified switching function is introduced, and simulation studies are proposed accordingly. The results with this novel switching function show a significant improvement in the chattering problem when compared to other conventional switching function candidates. Studies on sensitivities to a range of hydrodynamic parameter uncertainties are presented, and the parameters that have major influences on the sliding mode control performance are highlighted. The proposed control system is also proven in the field trials to enhance vehicle response, yielding consistent, and robust performance over the entire range of vehicle's speeds, even when subjected to external disturbance. It also shows superior heading tracking performance when compared to a proportional‐derivative (PD) based approach implemented on the same vehicle. However, this improved performance requires intense control actions as a trade‐off, causing the AUV to expend more energy than with the P‐D approach. Path following trials, where the AUV is demanded to follow a set of GPS coordinates at the water surface, are presented. These demonstrate the applicability of the proposed heading control system in a practical operation. The presented SMC scheme can be applied to any vehicle straightforwardly, but the control allocation part may need to be modified regarding the actuator configuration of that vehicle.

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Sliding mode control: a tutorial

Abstract: The version in the Kent Academic Repository may differ from the final published version. Users are advised to check http://kar.kent.ac.uk for the status of the paper. Users should always cite the published version of record.

Cited by 24 publications

References 14 publications

Nonlinear Disturbance Attenuation Control of Hydraulic Robotics

Nonlinear Disturbance Attenuation Control of Hydraulic Robotics

Aircraft pitch control tracking with sliding mode control

Sliding mode heading control of an overactuated, hover‐capable autonomous underwater vehicle with experimental verification

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