A Lyapunov approach to second-order sliding mode controllers and observers.
Jaime A. MorenoMarisol OsorioPublished in: CDC (2008)
Keyphrases
- sliding mode
- stability analysis
- control law
- control scheme
- closed loop
- variable structure
- nonlinear systems
- sliding mode controller
- control system
- control strategy
- trajectory tracking
- adaptive control
- control algorithm
- control theory
- sliding surface
- tracking error
- optimal control
- robot manipulators
- lyapunov function
- autonomous robots
- controller design
- sliding mode control
- dynamic model
- dynamical systems
- motion planning
- support vector
- control method
- particle swarm optimization