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TECHNICAL PAPERS

A Gain Scheduled Sliding Mode Control Scheme Using Filtering Techniques With Applications to Multilink Robotic Manipulators

[+] Author and Article Information
Jian-Xin Xu, Ya-Jun Pan, Tong-Heng Lee

Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260

J. Dyn. Sys., Meas., Control 122(4), 641-649 (Feb 21, 2000) (9 pages) doi:10.1115/1.1318352 History: Received February 21, 2000
Copyright © 2000 by ASME
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References

Figures

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The variation of the disturbance and switching surface
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Tracking error profiles of the conventional SMC: (a) global view; (b) zoomed view
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Control signal profiles of the conventional SMC: (a) torque u1; (b) torque u2
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Control signal and tracking error profiles of the SMC with saturation function φ12=0.5: (a) torque u1; (b) torque u2; (c) tracking errors e1 and e2; (d) zoomed e1 and e2 near the equilibrium
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Control signal and tracking error profiles of the SMC with saturation function φ12=0.05: (a) torque u1; (b) torque u2; (c) tracking errors e1 and e2; (d) zoomed e1 and e2 near the equilibrium
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The schematic diagram of gain scheduled SMC
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Control signal profiles u and filtered control profiles uv: (a) torque u1; (b) torque u2; (c) filtered control uv1; (d) filtered control uv2
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(a) Scheduled switching gains; (b) zoomed gain profiles near the equilibrium
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(a) Tracking errors e1 and e2; (b) zoomed e1 and e2 near the equilibrium; (c) switching surface σ1; (d) switching surface σ2
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The evolution of switching surfaces and gains with respect to disturbance surging: (a) switching surface σ1; (b) switching surface σ2; (c) gain k1(t); (d) gain k2(t)

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