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JACIII Vol.5 No.6 pp. 338-345
doi: 10.20965/jaciii.2001.p0338
(2001)

Paper:

Tracking Control of Variable Structure System Using Variable Boundary Layer

Heejin Lee

Dept. of Control and Instrumentation Engr., Hankyong National University 67 Seokjeong-Dong, Ansung, Kyonggi-Do, 456-749 Korea

Received:
March 11, 2001
Accepted:
February 04, 2002
Published:
November 20, 2001
Keywords:
VSC, tracking control, linear time-varying surfaces
Abstract

In this paper, a new scheme is presented for the accurate tracking control of the second-order variable structure systems using the variable boundary layer. Up to now, variable structure controller(VSC) applying the variable boundary layer did not remove chattering from an arbitrary initial state of the system trajectory because VSC has used the fixed sliding surface. But, by using the linear time-varying sliding surfaces, the scheme has the robustness against chattering from all states. The suggested method can be applied to the second-order nonlinear systems with parameter uncertainty and extraneous disturbances, and have better tracking performance than the conventional method.To demonstrate the advantages of the proposed algorithm, it is applied to a two-link manipulator.

Cite this article as:
Heejin Lee, “Tracking Control of Variable Structure System Using Variable Boundary Layer,” J. Adv. Comput. Intell. Intell. Inform., Vol.5, No.6, pp. 338-345, 2001.
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