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Robust Motion Control using Novel First Order Sliding Modes
Akash Panhale,Shailaja Kurode 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
Sliding Mode Control (SMC) assures finite time convergence of sliding variables and constrains it to zero thereafter leading to robustness with respect to internal and external disturbances during sliding. This is achieved by discontinuous term in the control. The discontinuity in the control leads to undesirable chattering which limits its practical applicability. This paper proposes novel simple chatter-free first order sliding mode control philosophy. The mathematical proof of the proposed algorithm is illustrated. The investigated algorithm is validated in simulation for the motion control system.