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This paper proposes a new sliding mode control design based on a choice of nonlinear sliding manifolds for second order mechanical systems that can be formalized into that of robotic manipulators. While typical sliding mode control presents a model compensation term in its control law, the new approach shows that by designing model based sliding manifolds, the resultant torque control law expression...
This paper introduces a new reaching law in sliding mode control that reduces chattering in steady state, without affecting the robustness or the tracking performance of the controller. The proposed reaching law contains an exponential term that dynamically adapts to the variations of the switching function, thus improving the robustness of the control law and keeping the tracking performance unaffected...
This paper proposes a novel sliding mode control approach applied on an active suspension system. This approach is based on a design of an Exponential Reaching Law which allows chattering reduction on control input, while keeping high tracking performance. The exponential term of the reaching law allows the sliding function to dynamically adapt to the system's variations.
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