A unifying design of sliding mode and classical controllers
- 1 January 1993
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 38 (9) , 1422-1427
- https://doi.org/10.1109/9.237660
Abstract
A theory is given to unify output sliding-mode control and classical control. The idea is based on defining the sliding variable in such a way that once the system begins to slide, the classical controller transfer function is realized. This idea leads to the development of a hybrid sliding-and-classical controller which retains the merits of both types of controllers but eliminates their respective limitations. The proposed method is robust and applies to non-minimum-phase single-input, single-output (SISO) systems. No state measurement is required.Keywords
This publication has 9 references indexed in Scilit:
- ON THE THEORY OF THE CAUCHY PROBLEM FOR AN ORDINARY DIFFERENTIAL EQUATION WITH DISCONTINUOUS RIGHT-HAND SIDESbornik: Mathematics, 1995
- Globally stable robust tracking of nonlinear systems using variable structure control and with an application to a robotic manipulatorIEEE Transactions on Automatic Control, 1990
- Nonlinear variable structure systems in sliding mode: the general caseIEEE Transactions on Automatic Control, 1989
- A new controller design for manipulators using the theory of variable structure systemsIEEE Transactions on Automatic Control, 1988
- On Sliding Observers for Nonlinear SystemsJournal of Dynamic Systems, Measurement, and Control, 1987
- Simple sliding mode control scheme applied to robot manipulatorsInternational Journal of Control, 1987
- Analysis and design of variable structure systems using a geometric approachInternational Journal of Control, 1983
- Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†International Journal of Control, 1983
- The invariance conditions in variable structure systemsAutomatica, 1969