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.
On sliding mode control of uncertain mechanical systems
1998 IEEE Aerospace Conference Proceedings (Cat. No.98TH8339) ; 1 ; 85-92 vol.1
1998-01-01
542582 byte
Conference paper
Electronic Resource
English
On Sliding Mode Control of Uncertain Mechanical Systems
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