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Handling stiction with variable structure control

  • Cem Hatipoğlu
  • Ümit Özgüner
Chapter
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 247)

Abstract

When the control system falls in a class obeying non-Lipschitzian (or “non-smooth”) dynamics, the conventional nonlinear theory can not be readily applied. Among the common non-smooth nonlinearities are those which are discontinuous in the state variables. Existence of such inherent right hand side discontinuities may induce undesirable stiction while hardening the control task during reference tracking. In this work, we analyze the “stiction” phenomenon in depth using analogies from the sliding mode control theory and propose a multi layer variable structure reference tracking controller for a class of systems in their companion forms. Results for an interesting physical example is provided to clarify the concepts.

Keywords

Control Input Reference Signal Slide Mode Control State Space Representation 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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Copyright information

© Springer-Verlag 1999

Authors and Affiliations

  • Cem Hatipoğlu
    • 1
  • Ümit Özgüner
    • 2
  1. 1.AlliedSignal TBSElyriaUSA
  2. 2.The Ohio State UniversityColumbusUSA

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