Adaptive sliding mode control for variable structure systems with constraint control input

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Title:	Adaptive sliding mode control for variable structure systems with constraint control input
Authors:	Shyu,KK;Lin,CY
Contributors:	電機工程研究所
Keywords:	ROBOT MANIPULATORS;TRACKING CONTROL;CONTROL DESIGN
Date:	1996
Issue Date:	2010-06-29 20:21:48 (UTC+8)
Publisher:	中央大學
Abstract:	In this paper, the problems in sliding mode control systems with constraint control input are described, and then we utilize selecting a switching surface with an integrator to solve this problem and to derive a bound for the existence of sliding motion. Additionally, we propose an adaptive sliding mode controller in order to reduce settling time and also maintain the sliding motion in a larger bound. Finally, an illustrative example is given to demonstrate the effect of proposed controller.
Relation:	DYNAMICS AND CONTROL
Appears in Collections:	[Graduate Institute of Electrical Engineering] journal & Dissertation

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