期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 58, 期 2, 页码 600-610出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2010.2045995
关键词
Chattering; control; exponential reaching law (ERL); modular robot; multi-input/multi-output (MIMO); nonlinear; sliding mode
资金
- Natural Sciences and Engineering Research Council of Canada [301160]
In this paper, sliding-mode control is applied on multi-input/multi-output (MIMO) nonlinear systems. A novel approach is proposed, which allows chattering reduction on control input while keeping high tracking performance of the controller in steady-state regime. This approach consists of designing a nonlinear reaching law by using an exponential function that dynamically adapts to the variations of the controlled system. Experimental study was focused on a MIMO modular robot arm. Experimental results are presented to show the effectiveness of the proposed approach, regarding particularly the chattering reduction on control input in steady-state regime.
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