Sliding surface design in the frequency domain
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.
KeywordsRiccati Equation Slide Mode Control Resonance Mode Linear Quadratic Variable Structure Control
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