Control of nonlinear systems using terminal sliding modesThe development of an approach to control synthesis for robust robot operations in unstructured environments is discussed. To enhance control performance with full model information, the authors introduce the notion of terminal convergence and develop control laws based on a class of sliding modes, denoted as terminal sliders. They demonstrate that terminal sliders provide robustness to parametric uncertainty without having to resort to high-frequency control switching, as in the case of conventional sliders. It is shown that the proposed method leads to greater guaranteed precision in all control cases discussed.
Document ID
19930038848
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Venkataraman, S. T. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Gulati, S. (JPL Pasadena, CA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: 1992 American Control Conference, 11th, Chicago, IL, June 24-26, 1992, Proceedings. Vol. 1 (A93-22776 07-63)
Publisher: Institute of Electrical and Electronics Engineers