Three different second order and one fourth order sliding mode controllers are considered in this chapter. An adaptive gain is implemented which adjusts the level of scalar control action on-line based on direct measurements of the equivalent control obtained by a low-pass filter. It is shown that the adaptive algorithm converge in finite time, thus the chattering is reduced in amplitude and the amount of energy demanded by the controller is reduced too. The results of a real implementation of the adaptive sliding mode controllers in a spring-mass-damper system are presented. Also a comparison between the adaptation methodology and augmented order methodology is presented.
Higher Order Sliding Mode Controllers with Adaptation
Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control ; 2012 ; Haifa, Israel October 14, 2012 - October 17, 2017
Advances in Estimation, Navigation, and Spacecraft Control ; Chapter : 9 ; 159-175
2015-01-01
17 pages
Article/Chapter (Book)
Electronic Resource
English
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