Dynamic compensator-based second-order sliding mode controller design for mechanical systems

Jeang-Lin Chang

Dynamic compensator-based second-order sliding mode controller design for mechanical systems

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Author(s): Jeang-Lin Chang ¹
- Affiliations: 1: Department of Electrical Engineering, Oriental Institute of Technology, 58, Section 2, Szechwan Road, Banchiao, New Taipei City 220, Taiwan
Source: Volume 7, Issue 13, 05 September 2013, p. 1675 – 1682
DOI: 10.1049/iet-cta.2012.1027 , Print ISSN 1751-8644, Online ISSN 1751-8652

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This is an open access article published by the IET under the Creative Commons Attribution License
(http://creativecommons.org/licenses/by/3.0/)

Received 25/12/2012, Accepted 28/04/2013, Revised 18/04/2013, Published

For mechanical systems using displacement measurements only, this study presents a dynamic compensator-based second-order sliding mode control algorithm without using any observer structure to estimate the velocity. Introducing the compensator into the sliding variable, a modified asymptotically stable second-order sliding mode control is developed. The proposed low-order dynamic controller inherently has low-pass filter property in which the effect of differentiators can be obtained. Using singular perturbation theory, the authors show that the system state is finally constrained in a small bound region when the gain is high enough. Finally, a numerical example is explained for demonstrating the applicability of the proposed scheme.

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