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 |
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License | In Copyright (Rights Reserved) |
Work Type | Article |
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Publication Date | August 25, 2014 |
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Deposited | February 25, 2024 |
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