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Variable structure control of nonlinear systems: a new approach

IEEE Transactions on Industrial Electronics · 1993 · Vol. 40(1) · pp. 45–55

Wei-Bing Gao✉(Beihang University)J. C. Hung(University of Tennessee at Knoxville)

Abstract

A new approach for the design of variable structure control (VSC) of nonlinear systems is presented. It is based on a new method called the reaching law method, and is complemented by a sliding-mode equivalence technique. They facilitate the design of the system dynamics in all three modes of a VSC system including the sliding, reaching, and steady-state modes. Invariance and robustness properties are discussed. The approach is applied to a robot manipulator to demonstrate its effectiveness.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>

Adaptive Control of Nonlinear Systems Dynamics and Control of Mechanical Systems Control and Dynamics of Mobile RobotsVariable structure controlRobustness (evolution)Nonlinear systemSliding mode controlControl theory (sociology)Equivalence (formal languages)Control engineeringVariable structure systemComputer scienceState variable

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Variable structure control: a survey