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TECHNICAL PAPERS

Eliminating the Reaching Phase From Variable Structure Control

[+] Author and Article Information
Cuneyt Yilmaz, Yildirim Hurmuzlu

Mechanical Engineering Department, Southern Methodist University, Dallas, TX 75275-0337

J. Dyn. Sys., Meas., Control 122(4), 753-757 (Jan 31, 2000) (5 pages) doi:10.1115/1.1321050 History: Received January 31, 2000
Copyright © 2000 by ASME
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References

Utkin,  V. I., 1977, “Variable Structure Systems with Sliding Mode,” IEEE Trans. Autom. Control, AC-22, pp 212–222.
 Slotine, 1985, “Robust Control of Robot Manipulators,” Int. J. Robot. Res., 4, No. 2, pp. 49–64.
Slotine, J. J. E., and Li, W., 1991, Applied Nonlinear Control, Prentice Hall, New Jersey.
Bailey,  E., and Arapostathis,  A., 1987, “Simple Sliding Mode Control Scheme Applied to Robot Manipulators,” Int. J. Control, 45, No. 4, pp. 1197–1209.
Ackermann,  J., and Utkin,  V., 1998, “Sliding Mode Control Design Based on Ackermann’s Formula,” IEEE Trans. Autom. Control, 43, No. 2, pp. 234–236.
Chang,  T. H., and Hurmuzlu,  Y., 1993, “Sliding Control Without Reaching Phase and Its Application to Bipedal Locomotion,” ASME J. Dyn. Syst., Meas., Control, 115, pp. 447–455.
Choi,  S., Park,  D., and Jayasuriya,  S., 1994, “A Time-Varying Sliding Surface for Fast and Robust Tracking Control of Second-Order Uncertain Systems,” Automatica, 30, pp. 899–904.
Bartoszewicz,  A., 1995, “A comment on A Time-Varying Sliding Surface for Fast and Robust Tracking Control of Second-Order Uncertain Systems,” Automatica, 31, No. 12, pp. 1893–1895.
Roy, R. G., and Olgac, N., 1997, “Robust Nonlinear Control via Moving Sliding Surfaces-n-th order case,” Proceedings of the 36th Conference on Decision and Control, San Diego, CA, pp. 943–948.
Sastry, S, and Bodson, M., 1989, Adaptive Control-Stability, Convergence, and Robustness, Prentice Hall, New Jersey.

Figures

Grahic Jump Location
Modified sliding surface
Grahic Jump Location
Performance index value change
Grahic Jump Location
Variation of the performance index
Grahic Jump Location
Comparison of errors and control efforts
Grahic Jump Location
Control input using continuously VSC method

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