Details

Autor(en) / Beteiligte

• Fathallah, Marwa
• Abdelhedi, Fatma
• Derbel, Nabil
• Vaidyanathan, Sundarapandian
• Lien, Chang-Hua

Titel

Insensibility of the Second Order Sliding Mode Control via Measurement Noises: Application to a Robot Manipulator Surveillance Camera

Ist Teil von

• Applications of Sliding Mode Control in Science and Engineering, 2017, Vol.709, p.99-113

Ort / Verlag

Switzerland: Springer International Publishing AG

Erscheinungsjahr

2017

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• The Sliding Mode Control (SMC) is a widely spread approach thanks to its efficiency and robustness. However, it suffers from the undesirable chattering phenomenon which leads to the mechanical system damage. Then, this study takes into consideration the second order SMC which is known by its reliability regarding disturbances and nonlinear uncertainties, in order to improve the system stability and performances. In fact, such a high order SMC ensures a trade off between chattering reduction and disruption resistance. First, a second order sliding mode controller has been elaborated. Then, and in order to test the robustness of the proposed strategy, a measurement noise has been introduced. Simulation results show the efficiency of the proposed second order SMC applied to a robot manipulator system in a motion control task, which is used to ensure the displacement of a surveillance camera.