A Novel Sliding Mode Control for a Class of Second-order Mechanical Systems

@inproceedings{Sheng2016ANS,
  title={A Novel Sliding Mode Control for a Class of Second-order Mechanical Systems},
  author={Yongzhi Sheng and Liang Wang and Xiangdong Liu},
  year={2016}
}
This paper considers the tracking control problem of a class of second-order mechanical systems involving parametric uncertainty and external disturbance by a sliding mode control SMC without reaching phase. Specifically, an SMC strategy with modified variable-gain proportional-integral-derivative PID-type sliding function is proposed, by which the existence of a sliding mode throughout an entire response of the system starting from the initial time instance is ensured. Meanwhile, the… CONTINUE READING