A comparative study of different chattering reduction techniques for sliding mode controllers

被引：0

作者：

Aquino-Juarez, Blanca Rosario ^{[1
]}

Navarro-Martinez, Fernando Abel ^{[1
]}

Barahona-Avalos, Jorge Luis ^{[2
]}

Ramirez-Leyva, Fermin Hugo ^{[2
]}

机构：

[1] Univ Tecnol Mixteca, Div Estudios Posgrad, Huajuapan De Leon, Oaxaca, Mexico

[2] Univ Tecnol Mixteca, Inst Elect & Mecatron, Huajuapan De Leon, Oaxaca, Mexico

来源：

2023 XXV ROBOTICS MEXICAN CONGRESS, COMROB | 2023年

关键词：

Control; Robotics; Pendulum; Sliding Mode; Chattering;

D O I：

10.1109/COMROB60035.2023.10349750

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents the observation and quantification of the reduction in chattering in the implementation of the sliding mode control technique as a regulator of a pendulum driven by a direct drive motor. Initially, five controllers based on the sign function are developed, and the substitution of this function by the saturation and relay functions, which are responsible for smoothing the response of chattering, is performed to obtain 15 controllers to be analyzed.

引用

页码：56 / 61

页数：6

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