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Sliding Modes in Motion Control Systems

Asif Šabanović
Nadira Šabanović
Cagdas Onal

Puni tekst: engleski, pdf (1 MB) str. 17-27 preuzimanja: 1.647* citiraj
APA 6th Edition
Šabanović, A., Šabanović, N. i Onal, C. (2005). Sliding Modes in Motion Control Systems. Automatika, 46. (1-2), 17-27. Preuzeto s
MLA 8th Edition
Šabanović, Asif, et al. "Sliding Modes in Motion Control Systems." Automatika, vol. 46., br. 1-2, 2005, str. 17-27. Citirano 24.10.2021.
Chicago 17th Edition
Šabanović, Asif, Nadira Šabanović i Cagdas Onal. "Sliding Modes in Motion Control Systems." Automatika 46., br. 1-2 (2005): 17-27.
Šabanović, A., Šabanović, N., i Onal, C. (2005). 'Sliding Modes in Motion Control Systems', Automatika, 46.(1-2), str. 17-27. Preuzeto s: (Datum pristupa: 24.10.2021.)
Šabanović A, Šabanović N, Onal C. Sliding Modes in Motion Control Systems. Automatika [Internet]. 2005 [pristupljeno 24.10.2021.];46.(1-2):17-27. Dostupno na:
A. Šabanović, N. Šabanović i C. Onal, "Sliding Modes in Motion Control Systems", Automatika, vol.46., br. 1-2, str. 17-27, 2005. [Online]. Dostupno na: [Citirano: 24.10.2021.]

In this paper we discuss the realization of motion control systems in the sliding mode control (SMC) framework. Any motion control system design should take into account the unconstrained motion (generally perceived as a trajectory tracking) and motion of the system in contact with unknown environment (perceived as force control and/or compliance control.) In the SMC framework control is selected to enforce certain preselected dependence among system coordinates, what is interpreted as forcing the system state to stay in selected manifold in state space. In this paper it has been shown that such a formulation allows a unified treatment of the both unconstrained and constrained motion control and, due to the Lyapunov based design, it guaranty the stability of the motion. Moreover control design in this framework allows extension of the solution to control design in interconnected dynamical systems (like mobile robots or bilateral systems).

Ključne riječi
motion control; sliding mode; hybrid control; nonlinear control; interconnected systems

Hrčak ID: 6837



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