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Publications (2)1.56 Total impact

  • M.D.J. Brown · Yuri B. Shtessel
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    ABSTRACT: Sliding mode controllers are characterized, ideally, by infinite frequency switching. An advancement in sliding mode controllers is the finite reaching time continuous sliding mode controller (FRTC SMC). The FRTC SMC is a true (not approximated) sliding mode control design with finite time convergence to the sliding surface and is more robust to unmodeled disturbances and plant dynamics than continuous approximations. However, the FRTC SMC is not as robust as the traditional SMC. In this paper, we investigate two methods of improving the robustness of the FRTC SMC to unmodeled disturbances and plant dynamics. The first method uses a sliding mode estimator. The second method uses a technique called an integral sliding mode control, which is a Lyapunov function based technique. We also demonstrate these disturbance cancellation techniques using a numerical example
    No preview · Conference Paper · Feb 2001
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    ABSTRACT: Presented is a method of continuous sliding mode control design to provide for the second-order sliding mode on the selected sliding surface. The control law is a nonlinear dynamic feedback that in the absence of unknown disturbances provides for finite-time convergence of the second-order reaching phase dynamics. The application of the second-order disturbance observer in combination with the proposed continuous control law gives the second-order sliding accuracy in the presence of unknown disturbances and a discrete-time control update. The piecewise constant control feedback is "smooth" in the sense that its derivative numerically taken at sampling rate does not contain high frequency components
    Full-text · Conference Paper · Feb 2001