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- Title
Some stability proofs on proxy-based sliding mode control.
- Authors
Kikuuwe, Ryo
- Abstract
Proxy-based sliding mode control (PSMC) is a control scheme proposed a decade ago originally as a position controller for robot manipulators. This controller has a unique mathematical structure that combines a proportional-integral-derivative (PID) controller and a sliding mode controller in an algebraic way, and has demonstrated its practical usefulness in various applications. Its theoretical foundation, however, has been quite immature. This article presents a set of stability proofs on PSMC as a minimum requirement for future practical applications. Finite-time stability and asymptotic stability of terminal attractors are proven with the use of a non-smooth Lyapunov function.
- Subjects
STABILITY theory; SLIDING mode control; PID controllers; MANIPULATORS (Machinery); FIXED point theory
- Publication
IMA Journal of Mathematical Control & Information, 2018, Vol 35, Issue 4, p1319
- ISSN
0265-0754
- Publication type
Article
- DOI
10.1093/imamci/dnx030