By Juan Manuel Ramds Arreguin (ed.)
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Extra resources for Automation and Robotics
37 s Fig. 19: Experimental Results on sliding mode control Towards chattering associated with sliding mode control the continuous control lessens this tendency as can be seen in fig. 20. Here a single drive torque during a trajectory part is compared to cascade control. Although frequency analysis reveals energy in frequencies next to the characteristic ones of cascade control, it can be seen that these are damped well in contrast to classical sliding mode control with discontinuous control law.
The response with correct parameters is plotted in red. Green indicates that the real value is larger then that used for controller design, black marks the opposite. 30 Automation and Robotics Assuming parameter variation in case of input balancing the transfer function can be expressed by GIB ( s ) = a 3 + 3a 2 + 3a + 1 6 5 kTv kTel a + 3kTv (1 + kTel ) a + 3(1 + kTv kTel + 3kTv )a 4 + (3kTv + 11)a 3 + 15a 2 + 6a + 1 (31) where a = 3Tel s and controller parameters are set according to eq. (19).
Applied Nonlinear Control, Prentice Hall, ISBN: 978-0130408907, New Jersey. -W. (1999), Robot Analysis, Wiley-Interscience; ISBN: 978-0471325932, New York. I. (1977). A Survey: Variable Structure Systems with Sliding Modes, IEEE Transactions on Automatic Control , vol. 22, no. 2, pp. 212-222, April 1977. Vetter, W. (1973). Matrix calculus operations and taylor expansions, SIAM Review, vol. 15, pp. 352–369, 1973. Weinmann, A. Uncertain mod and robust control, Springer, ISBN: 978-3-211-82299-9, Wien.
Automation and Robotics by Juan Manuel Ramds Arreguin (ed.)