Moving Sliding Surfaces for Fast Tracking Control of Second-Order Dynamical Systems

[+] Author and Article Information
Seung-Bok Choi, Dong-Won Park

Department of Mechanical Engineering, Inha University, Incheon, Korea

J. Dyn. Sys., Meas., Control 116(1), 154-158 (Mar 01, 1994) (5 pages) doi:10.1115/1.2900671 History: Received March 08, 1992; Revised April 20, 1993; Online March 17, 2008


A new type of sliding surface for a variable structure control system is proposed to achieve fast and accurate path tracking in a class of nonlinear second-order multi-input dynamical systems. The surface is adaptable to arbitrary initial conditions, and movable towards a predetermined surface. The movement is executed in a stepwise manner according to the trajectory of representative points. We call it a moving sliding surface (MSS). Using the MSS favorable fast tracking is accomplished without increasing the magnitude of the discontinuous control gain. A two-degree-of-freedom robotic manipulator subjected to external disturbances is considered to demonstrate the efficacy of the proposed method.

Copyright © 1994 by The American Society of Mechanical Engineers
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