Motion Control Using a Sliding-Mode-Control-Based Approach

  • Masayoshi TodaEmail author
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 463)


In this chapter, we present the other highlight of the monograph, the sliding-mode control (SMC)-based approach for the OBM robust control problems. In our attempt to apply the SMC framework to such problems, we have developed a novel nonlinear sliding surface, which is called the “rotating sliding surface with variable-gain integral control (RSSI).” The advantageous feature of this method is the control system can achieve successful tracking control and disturbance rejection in not only steady state but also transient state with less control inputs. We present the control design method, stability analyses on the RSSI and control performance demonstrations by simulations in comparison with those of the \(\mathcal {H}_\infty \)-control-based approach. The results show that, in the ideal situation in terms of sensor resolution, sampling period, control input limitation, the SMC-RSSI system is considerably superior to the \(\mathcal {H}_\infty \) controllers, however once such ideal conditions have been violated, its performance are dramatically deteriorated. Therefore, the SMC-based approach is promising, but needs to be improved in the sense of practical implementation.


Control Input Control Performance Slide Mode Control Stable Manifold Control System Design 
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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Department of Ocean SciencesTokyo University of Marine Science and TechnologyTokyoJapan

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