A sliding mode control law is proposed for regulation control of a class of uncertain mechanical systems. The algorithm uses only the bounds of uncertainties and disturbances and does not require matching conditions. The existence of a sliding mode, its closed loop stability, and its robustness characteristics are proved by using Lyapunov's stability theory. The proposed control is shown to be robustly stable with respect to parameter variations and external disturbances. Examples are given to demonstrate the application and performance of the proposed approach.


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    Titel :

    On sliding mode control of uncertain mechanical systems


    Beteiligte:
    Yuzhuo Wang (Autor:in) / Flashner, H. (Autor:in)


    Erscheinungsdatum :

    01.01.1998


    Format / Umfang :

    542582 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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