New compound control algorithm in sliding mode control to reduce the chattering phenomenon: experimental validation

2020/10/24 by Mehran Rahmani, Rahmani, Mehran, Asif Al Zubayer Swapnil +1
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #Dynamics and Control of Mechanical Systems #FOS: Electrical engineering #Systems and Control (eess.SY) #cs.SY #eess.SY #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2010.12778

17 pages, 9 figures

openalex publication_date 2020/10/24 · openalex created_date 2020/10/29 · arxiv created 2020/12/12 · arxiv updated 2020/12/15 · openalex updated_date 2026/07/28

Abstract

In this work, a new SMS is proposed to achieve high tracking and suitable robustness. However, the chattering phenomenon should be regarded as the main drawback of the SMC. Therefore, a new compound control algorithm is used for reducing the chattering phenomenon. The applied compound control law constantly evaluates the error and send the correct value to the system. This significantly will reduce the chattering phenomenon. The performance of the control methods validated by applying on a robot arm experimentally.

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