Abstract
We have proposed a new method of sliding surface design using the frequency domain. Through the simulation of an elastic joint manipulator, the efficiency of the approach has been demonstrated. For the H ∞ norm it is easy to assign the sliding mode dynamics from a frequency specification of the reference response. If we have a priori information of any resonance modes, we obtain better performance using an observer which estimates the resonance modes. However, the problem of optimal observer design has yet to be fully solved.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
Doyle, J.C., Glover, K., Khargonekar, P., Francis, B.A. 1989, State-Space Solutions to Standard H 2 and H ∞ Control Problems. IEEE Transactions on Automatic Control AC-34, 831–847
Francis, B.A. 1987, A Course in H ∞ Control Theory, Lecture Notes in Control and Information Sciences, 88, Springer-Verlag, Berlin
Gupta, N.K. 1980, Frequency-shaped cost functionals: Extension of linear-quadratic-gaussian design. Journal of Guidance and Control 3, 529–535
Utkin, V.I., Young, K.D. 1978, Methods for Constructing Discontinuous Planes in Multidimensional Variable Structure Systems. Automation and Remote Control 31, 1466–1470
Young, K.K. 1993, Variable Structure Control for Robotics and Aerospace Systems, Elsevier Science
Young, K.D., Özgüner, Ü. 1990, Frequency Shaped Sliding Mode Synthesis. International Workshop on VSS and their Applications, Sarajevo
Zhou, K., Khargonekar, P.P. 1988, An Algebraic Riccati Equation Approach to H ∞ Optimization. Systems and Control Letters 11–2, 85–91
Editor information
Rights and permissions
Copyright information
© 1994 Springer-Verlag London Limited
About this chapter
Cite this chapter
Hashimoto, H., Konno, Y. (1994). Sliding surface design in the frequency domain. In: Zinober, A.S.I. (eds) Variable Structure and Lyapunov Control. Lecture Notes in Control and Information Sciences, vol 193. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0033679
Download citation
DOI: https://doi.org/10.1007/BFb0033679
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-19869-7
Online ISBN: 978-3-540-39325-2
eBook Packages: Springer Book Archive