NDLI: Continous sliding mode control of DD robot mechanism

Content Provider	IEEE Xplore Digital Library
Author	Curk, B. Jezernik, K. Terbuc, M.
Copyright Year	1997
Description	Author affiliation: Fac. of Electr. Eng. & Comput. Sci., Maribor Univ., Slovenia (Curk, B.)
Abstract	In this paper, a nonmodel-based discrete-time chattering-free sliding mode control scheme is applied. The distinctive feature of the scheme is its robustness to different initial condition values and to parameter mismatch. Nonlinear control principles are used, namely the combined feedforward and the robust negative feedback part based on the VSS controllers. In the discrete-time expression the discontinuous operation of controllers in the sliding mode has been replaced by the continous one. In this way, the chattering of control input has been eliminated and the excitation of the dynamic system without high frequency oscillations has been achieved. The proposed control solution is near an ideal control function in the sliding mode. Unlike other algorithms intended to avoid chattering, this nonmodel based approach uses only the information about the distance from the sliding mode manifold to derive the control. The advantage of the proposed control scheme prevails over the conventional model-based control scheme since no precise knowledge of mathematical model is necessary. In order to implement the control, only the structure of input matrix and the mean values of its parameters must be known. The parameters of the control depend only on the plant's gain matrix and the gradient of the sliding mode manifold. The proposed control scheme is applied on a mininal cofiguration direct drive robot mechanism.
Starting Page	889
Ending Page	894
File Size	628700
Page Count	6
File Format	PDF
ISBN	0780339363
DOI	10.1109/ISIE.1997.648838
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-07-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sliding mode control Robots Control systems Motion control Torque control Robust control Feedback Frequency Gears Manipulators
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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