This paper presents a switched third-order sliding mode control algorithm, which allows one to tune the parameters of the controller according to the region of the state space in which the system evolves in time. By doing so, the closed-loop performance can be adapted to possibly different performance objectives and/or different information on the uncertainties affecting the systems. A robotic case study is reported, which shows the advantages offered by the increased flexibility of the proposed algorithm with respect to a classical third-order sliding mode approach.
Switched third-order sliding mode control
INCREMONA, GIAN PAOLO;TANELLI, MARA;
2016-01-01
Abstract
This paper presents a switched third-order sliding mode control algorithm, which allows one to tune the parameters of the controller according to the region of the state space in which the system evolves in time. By doing so, the closed-loop performance can be adapted to possibly different performance objectives and/or different information on the uncertainties affecting the systems. A robotic case study is reported, which shows the advantages offered by the increased flexibility of the proposed algorithm with respect to a classical third-order sliding mode approach.File in questo prodotto:
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