A feedforward-feedback interpretation of a sliding mode control scheme is presented. Given a desired trajectory, the feedforward signal is generated using a stable inversion method, and the feedback signal includes the switching term of the sliding mode control law. In this manner, we robustness is introduced into the stable inversion technique. This approach is motivated by the need to replicate time signals typically in the automobile industry. The application of such an interpretation to a quarter car benchmark model yields encouraging results. Special attention will be given to non-minimum phase systems illustrated by a simulation example of the lunar roving vehicle.
A feedforward-feedback interpretation of a sliding mode control law
Interpretation der Gleitmodusregelung durch ein Vorwärtskopplungs/Rückkopplungs-Schema
1999
15 Seiten, 6 Bilder, 16 Quellen
Aufsatz (Konferenz)
Englisch
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