Robust Sliding Mode Controller for Uncertain Nonlinear Systems with Fast Transient

This paper proposes an improved self-tuning sliding mode control for nonlinear uncertain systems. The proposed approach is based on the principle of approximating the gradient of cost-to-go using the dynamics of the sliding variable and a modified error. Validity of the proposed control design is established through Lyapunov analysis. The effectiveness of the proposed control design with fast transient response was demonstrated on a second order and 2-joint robot manipulator nonlinear systems with uncertainties. The results showed that the robustness of the method is guaranteed and the system arrived at the sliding manifold rapidly.

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Work Title Robust Sliding Mode Controller for Uncertain Nonlinear Systems with Fast Transient
Access
Open Access
Creators
  1. Lakshminarayanan Chinta V.
  2. Ma'moun Abu-Ayyad
  3. Rickey Dubay
Keyword
  1. Nonlinear control
  2. Sliding variable
  3. Self-tuning
License In Copyright (Rights Reserved)
Work Type Article
Publisher
  1. International Journal of Automation and Control Engineering
Publication Date August 25, 2014
Publisher Identifier (DOI)
  1. http://dx.doi.org/10.14355/ijace.2014.0303.03
Deposited February 25, 2024

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Version 1
published

  • Created
  • Added AbuAyyad_Journal_4.pdf
  • Added Creator Lakshminarayanan Chinte
  • Added Creator Ma'moun Abu-Ayyad
  • Added Creator Rickey Dubay
  • Published
  • Updated Work Title, Keyword, Subtitle, and 2 more Show Changes
    Work Title
    • Robust Sliding Mode Controller for Uncertain Nonlinear Systems with Fast Transients
    • Robust Sliding Mode Controller for Uncertain Nonlinear Systems with Fast Transient
    Keyword
    • Nonlinear control, Sliding variable, Self-tuning
    Subtitle
    • International Journal of Automation and Control Engineering
    Publisher Identifier (DOI)
    • http://dx.doi.org/10.14355/ijace.2014.0303.03
    Description
    • No
    • This paper proposes an improved self-tuning sliding mode control for nonlinear uncertain systems. The proposed approach is based on the principle of approximating the gradient of cost-to-go using the dynamics of the sliding variable and a modified error. Validity of the proposed control design is established through Lyapunov analysis. The effectiveness of the proposed control design with fast transient response was demonstrated on a second order and 2-joint robot manipulator nonlinear systems with uncertainties. The results showed that the robustness of the method is guaranteed and the system arrived at the sliding manifold rapidly.
  • Renamed Creator Lakshminarayanan Chinta V. Show Changes
    • Lakshminarayanan Chinte
    • Lakshminarayanan Chinta V.
  • Updated