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This paper proposes a method to suboptimally tune the control parameters in a conventional Lyapunov-based method which shares the same concept of control design with sliding mode approach as applied to the robot manipulators. Optimal tuning of such parameters involves handling of nonlinearities in system dynamics and cost functions, which makes the problem challenging. We propose a step-by-step numerical...
This paper deals with the design of a sliding-mode disturbance observer (SDOB) with switching-gain adaptation for a class of nonlinear systems subject to exogenous signals. The proposed SDOB, referred to as IMP-SDOB, is based on the internal-model principle and thus achieves robust asymptotic disturbance estimation, whereas the conventional SDOB leads to nonzero estimation error to a time-varying...
In this paper, we present a VSS-based tracking control for a fixed point regulation of 2-DOF underactuated manipulators. The design approach is systematic and relies on the selection of appropriate choice of two sliding surface. The controller is designed for the both sliding surfaces are attractive. Lyapunov theory is used to study and demonstrate the stability of the system. Convergence of state...
Three types of composite quadratic Lyapunov funtions are used for deriving conditions of stabilization and for constructing switching laws for switched systems. The three types of functions are, the max of quadratics, the min of quadratics and the convex hull of quadratics. Directional derivatives of the Lyapunov functions are used for the characterization of convergence rate. Stability results are...
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