Article citationsMore>>

Slotine, J.J. and Hong, S. (1986) Two Time Sliding Control of Manipulators with Flexible Joints. Proceeding of 1986 American Control Conference, Seattle, 18-20 June 1986, 805-810. https://doi.org/10.23919/ACC.1986.4789045

has been cited by the following article:

• TITLE: Sliding Mode Control for Singularly Perturbed Systems Using Accurate Reduced Model

  AUTHORS: Ayman E. M. Ahmed, Mohamed Zohdy

  KEYWORDS: Singular Perturbation, Sliding Mode Control, Diagonalization Method

  JOURNAL NAME: International Journal of Modern Nonlinear Theory and Application, Vol.10 No.1, March 5, 2021

  ABSTRACT: In order to deal with unmodeled dynamics in large vehicle systems, which have an ill condition of the state matrix, the use of model order reduction methods is a good approach. This article presents a new construction of the sliding mode controller for singularly perturbed systems. The controller design is based on a linear diagonal transformation of the singularly perturbed model. Furthermore, the use of a single sliding mode controller designed for the slow component of the diagonalized system is investigated. Simulation results indicate the performance improvement of the proposed controllers.