Brahmi Brahim, Laraki Mohamed Hamza, Brahmi Abdelkrim, Saad Maarouf, Rahman Mohammad H
École de technologie Supérieure,1100 Rue Notre-Dame Ouest, Montreal, H3C 1K3, Canada.
École de technologie Supérieure,1100 Rue Notre-Dame Ouest, Montreal, H3C 1K3, Canada.
ISA Trans. 2020 Feb;97:261-268. doi: 10.1016/j.isatra.2019.08.010. Epub 2019 Aug 9.
In this paper, a new sliding mode control (SMC) is applied to a physical nonlinear system. The novelty of this approach is related to the proposed reaching law by overcoming the main limitations of SMC. Unlike existing reaching laws, the suggested one can achieve high performance with significant reducing of a chattering problem and has a very fast convergence time of the system trajectories into the origin. This law benefits from the advantages and overcomes the limitations of both the exponential reaching law (ERL) and the conventional sliding mode control (SMC). Simulation results and comparison study with ERL and SMC are presented and applied on two degrees of freedom robot in order to show the advantage of the proposed adaptive reaching law. Experiments results are performed with electric cylinder (DC Motor) to confirm this proposition in real-time implementation.
本文将一种新型滑模控制（SMC）应用于一个物理非线性系统。该方法的新颖之处在于通过克服滑模控制的主要局限性而提出的趋近律。与现有趋近律不同，所提出的趋近律能够在显著减少抖振问题的情况下实现高性能，并且系统轨迹收敛到原点的时间非常快。该趋近律兼具指数趋近律（ERL）和传统滑模控制（SMC）的优点，同时克服了它们的局限性。给出了与指数趋近律和滑模控制的仿真结果及对比研究，并将其应用于两自由度机器人，以展示所提出的自适应趋近律的优势。使用电动缸（直流电机）进行了实验结果验证，以在实时实现中证实这一观点。
