제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Chattering Alleviation using Integral Sliding Mode Control (ICCAS 2005)

  • Kim, Tae-Won (Dept. of Electrical Engineering Changwon Polytechnic College) ;
  • Kim, Min-Chan (Dept. of Electrical Engineering Changwon National University) ;
  • Park, Seung-Kyu (Dept. of Electrical Engineering Changwon National University) ;
  • Ahn, Ho-Gyun (Dept. of Electrical Engineering Changwon National University)
  • Published : 2005.06.02
Download PDF
⟨ Previous Next ⟩

Abstract

The input chattering in the sliding mode control (SMC) is alleviated through a low pass filter. When the low pass filter is added to the original system, the overall system including the low pass filter dynamics can not satisfy the matching condition. So the integral SMC is applied for a main controller. A sliding surfaces are designed carefully to make the overall dynamics same with the nominal control system.

Keywords