2015
DOI: 10.1007/s00521-015-2018-5
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Soft sliding mode controller design for uncertain delta operator systems

Abstract: Aiming at high-speed signal sampling system with internal parameter perturbation and external disturbance, a novel delta operator saturated variable rate reaching law based on sigmoid function is presented, and soft sliding mode controller design is addressed for delta operator systems with uncertainties in the paper. The structural feature of uncertain delta operator system is concerned. Soft sliding mode controller design for continuous-time system and discrete-time system can be converted to the case of del… Show more

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Cited by 9 publications
(2 citation statements)
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“…Chatter will not only affect the service life of the machine but also affect the trajectory tracking accuracy problem. 4 To address the problem that the mathematical model of the manipulator is difficult to build. In Ahmed et al, 5 time delay estimation (TDE) is taken to estimate the unmodeled uncertain dynamics, and the estimation error is compensated by augmenting the torque input, which improves the trajectory tracking accuracy and also achieves model-free control of the nonlinear manipulator system.…”
Section: Introductionmentioning
confidence: 99%
See 1 more Smart Citation
“…Chatter will not only affect the service life of the machine but also affect the trajectory tracking accuracy problem. 4 To address the problem that the mathematical model of the manipulator is difficult to build. In Ahmed et al, 5 time delay estimation (TDE) is taken to estimate the unmodeled uncertain dynamics, and the estimation error is compensated by augmenting the torque input, which improves the trajectory tracking accuracy and also achieves model-free control of the nonlinear manipulator system.…”
Section: Introductionmentioning
confidence: 99%
“…Chatter will not only affect the service life of the machine but also affect the trajectory tracking accuracy problem. 4…”
Section: Introductionmentioning
confidence: 99%