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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    Title :

    On sliding mode control of uncertain mechanical systems


    Contributors:
    Yuzhuo Wang (author) / Flashner, H. (author)


    Publication date :

    1998-01-01


    Size :

    542582 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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