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Sliding surface design in the frequency domain

  • Hideki Hashimoto
  • Yusuke Konno
Chapter
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 193)

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.

Keywords

Riccati Equation Slide Mode Control Resonance Mode Linear Quadratic Variable Structure Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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Copyright information

© Springer-Verlag London Limited 1994

Authors and Affiliations

  • Hideki Hashimoto
  • Yusuke Konno

There are no affiliations available

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