Abstract
This paper proposes a new sliding mode control design with reduced control chattering. The proposed new design inherits the design concept from dynamic sliding mode control, in which the first-order time derivative of the control input is treated as the control variable for a chattering control design. Previous dynamic sliding mode designs require an extra uncertainty observer or uncertainty estimator to construct the sliding surface. This paper is able to waive such observer or estimator.
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Recommended by Associate Editor Jun Yoneyama under the direction of Editor PooGyeon Park. This study is supported in part by the National Science Council, Taiwan, under projects NSC 102-221-E-161-006, NSC 101-2221-E-002-098, and NSC 99-2221-E-002-098.
Jeang-Lin Chang received the B.S. and M.S. degrees in Control Engineering, the Ph.D. degree in Electrical and Control Engineering from National Chiao Tung University, Taiwan, R.O.C., in 1992, 1994, and 1999, respectively. He was with the Mechanical Research Laboratory, Industrial Technology Research Institute, Taiwan, during 1997-1999. In 1999, he joined the Department of Electrical Engineering, Oriental Institute of Technology, as an Assistant Professor. He is currently a Professor. His research interests include sliding mode control, motion control, and signal processing.
Shih-Yu Lin received her M.S. degree in Mechanical Engineering from National Taiwan University, Taiwan, R.O.C. She was with the Mechanical Research Laboratory, Industrial Technology Research Institute, Taiwan. She then joined the Department of Mechanical Engineering, Hwa Hsia University of Technology, as a Lecturer.
Kuan-Chao Chu is received his B.S. and M.S. degrees in Mechanical Engineering from National Taiwan University, Taiwan, R.O.C., in 2013 and 2015. He is currently a member of Precision System Control Lab., National Taiwan University.
Min-Shin Chen received his B.S. degree in mechanical engineering from National Taiwan University, Taipei, Taiwan, in 1982, and both his Master and Ph.D. degrees in mechanical engineering from University of California, Berkeley, in 1986 and 1989, respectively. He was a professor with the department of mechanical engineering at National Taiwan University from 1998-2014. His research interests include bilinear system control, sliding mode control, and robust observer design.
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Chang, JL., Lin, SY., Chu, KC. et al. Lyapunov stability analysis of second-order sliding-mode control and its application to chattering reduction design. Int. J. Control Autom. Syst. 14, 691–697 (2016). https://doi.org/10.1007/s12555-015-0149-1
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DOI: https://doi.org/10.1007/s12555-015-0149-1