Chattering-free sliding mode control for a class of nonlinear mechanical systems (Q2771042)
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scientific article; zbMATH DE number 1704565
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Chattering-free sliding mode control for a class of nonlinear mechanical systems |
scientific article; zbMATH DE number 1704565 |
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Chattering-free sliding mode control for a class of nonlinear mechanical systems (English)
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15 October 2002
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chattering-free sliding mode control
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robot dynamics
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passivity
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invariance
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robust tracking
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desired transient
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A class of smooth, uncertain mechanical control systems is studied under suitable assumptions. First, a continuous parametrization of the error equation is proposed to comply with the passivity approach and with the invariance condition. Next, adaptive and non-adaptive chattering-free sliding mode controllers are proposed. The corresponding closed-loop error dynamics yields robust tracking with global exponential stability and desired transient response. Moreover, the sliding mode is enforced for all time and all initial conditions. Some experimental results are also presented and discussed.
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