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FREQUENCY SHAPING COMPENSATION FOR BACKSTEPPING SLIDING MODE CONTROL
Tankut Acarman* Ümit Özgüner*
* Department of Electrical Engineering
The Ohio State University
2015 Neil Avenue, Columbus, OH 43210
e-mail: {acarman.1, ozguner.1}@osu.edu
In this paper, dynamic sliding surface design combined with recursive backstepping algorithm is introduced. The high frequency, high amplitude chattering effects associated with high gain properties of the backstepping algorithm are eliminated by using compensator dynamics introduced in sliding mode through a class of switching surfaces which has the interpretation of linear operators.
Keywords: Lyapunov stability, uncertainty, sliding mode, chattering, robustness
Session slot T-Tu-A14: Sliding Mode Control Design/Area code 2a : Control Design
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