Implementation of Super-Twisting Control on Higher Order Perturbed Integrator System using Higher Order Sliding Mode Observer
نویسندگان
چکیده
منابع مشابه
Adaptive continuous higher order sliding mode control
This paper proposes an adaptive continuous higher order sliding mode control scheme. The control law comprises a structure which provides smooth finite time stabilization of the origin for a nominal disturbance-free system formed from a chain of integrators, together with a super-twisting term to guarantee robustness to a class of twice differentiable uncertainty. The super-twisting scheme is a...
متن کاملHigher order sliding mode control based on adaptive first order sliding mode controller
This paper presents an adaptive higher order sliding mode controller based on first adaptive sliding mode control and an integral sliding variable. The idea is based on the definition of a nominal control which can stabilize a pure chain of integrators to zero in finite time. The novelty of the proposed approach is that uncertainties/perturbations effects are rejected by a first order sliding m...
متن کاملOn ZOH Discretization of Higher-Order Sliding Mode Control Systems
Abstract: In this paper, the zero-order-hold (ZOH) discretization of higher-order sliding mode control (SMC) systems is studied. The equivalent control based SMC systems with relative degree higher than one is first formulated into a canonical form which is easy for control design. Theoretical results for the ZOH-discretized SMC systems with relative degree higher than one are given, including ...
متن کاملHigher Order Sliding Mode Control of Uncertain Robot Manipulators
This paper proposes a higher order sliding mode controller for uncertain robot manipulators. The motivation for using high order sliding mode mainly relies on its appreciable features, such as high precision and elimination of chattering in addition that assure the same performance of conventional sliding mode like robustness. Instead of a regular control input, the derivative of the control in...
متن کاملA novel higher order sliding mode control scheme
A higher order sliding mode control algorithm is proposed for a class of uncertain multi-input multi-output nonlinear systems. This problem can be viewed as the finite time stabilization of a higher order input-output dynamic system with bounded uncertainties. The developed control scheme is based on geometric homogeneity and sliding mode control. The proposed procedure provides explicit condit...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2016
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2016.10.276