Chattering Elimination With Second-Order Sliding Modes Robust to Coulomb Friction

[+] Author and Article Information
G. Bartolini

DIEE-Department of Electrical and Electronic Engineering, University of Cagliari, Piazza d’Armi, 19, 09123 Cagliari, Italy   e-mail: giob@elettrol.unica.it

E. Punta

DIST-Department of Communication, Computer, and System Sciences, University of Genova, Via Opera Pia, 13, 16145 Genova, Italye-mail: punta@dist.unige.it

J. Dyn. Sys., Meas., Control 122(4), 679-686 (Mar 01, 2000) (8 pages) doi:10.1115/1.1316797 History: Received March 01, 2000
Copyright © 2000 by ASME
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Grahic Jump Location
The worst case trajectory is not contractive, the possible control counteractions are: to increase the control amplitude WM (a), to use an asymmetric commutation logic (b), to anticipate the commutation (c)
Grahic Jump Location
The convergence of the x1 state component
Grahic Jump Location
The convergence of the x2 state component
Grahic Jump Location
The continuous control signal u
Grahic Jump Location
The discontinuous control signal v=u̇
Grahic Jump Location
The trajectory of the controlled system in the phase plane y1,y2
Grahic Jump Location
The trajectory of the controlled system in the phase plane x2,ẋ2
Grahic Jump Location
The trajectory of the controlled system in the phase plane x1,x2
Grahic Jump Location
The trajectories of the double integrator under the action of the suboptimal strategy




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