Sliding-Mode Robot Control With Exponential Reaching Law

被引：451

作者：

Fallaha, Charles J. ^{[1
]}

Saad, Maarouf ^{[1
]}

Kanaan, Hadi Youssef ^{[2
]}

Al-Haddad, Kamal ^{[1
]}

机构：

[1] Ecole Technol Super, Dept Elect Engn, Montreal, PQ H3C 1K3, Canada

[2] St Joseph Univ, Ecole Super Ingenieurs Beirut, Fac Engn, Dept Elect & Mech Engn, Beirut 11072050, Lebanon

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2011年 / 58卷 / 02期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Chattering; control; exponential reaching law (ERL); modular robot; multi-input/multi-output (MIMO); nonlinear; sliding mode; VARIABLE-STRUCTURE CONTROL; BACKSTEPPING CONTROL; SYSTEMS;

D O I：

10.1109/TIE.2010.2045995

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, sliding-mode control is applied on multi-input/multi-output (MIMO) nonlinear systems. A novel approach is proposed, which allows chattering reduction on control input while keeping high tracking performance of the controller in steady-state regime. This approach consists of designing a nonlinear reaching law by using an exponential function that dynamically adapts to the variations of the controlled system. Experimental study was focused on a MIMO modular robot arm. Experimental results are presented to show the effectiveness of the proposed approach, regarding particularly the chattering reduction on control input in steady-state regime.

引用

页码：600 / 610

页数：11

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