Frequency shaping compensation for backstepping sliding mode control

ACARMAN T., Ozgiiner U.

15th World Congress of the International Federation of Automatic Control, 2002, Barcelona, Spain, 21 - 26 July 2002, vol.15, pp.37-42, (Full Text) identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 15
  • Doi Number: 10.3182/20020721-6-es-1901.01077
  • City: Barcelona
  • Country: Spain
  • Page Numbers: pp.37-42
  • Keywords: Chattering, Lyapunov stability, Robustness, Sliding mode, Uncertainty
  • Galatasaray University Affiliated: Yes

Abstract

In this paper, dynamic sliding surface design combined with recursive backstepping algorithm is introduced. The high frequency, high amplitude chattering effects associated with high gain properties of the backstepping algorithm are eliminated by using compensator dynamics introduced in sliding mode through a class of switching surfaces which has the interpretation of linear operators.