Observer-based Design of Complex Motion Control Systems in SMC Framework
This paper presents a comprehensive treatment of the complex motion control systems in the the Sliding Mode Control (SMC) framework. The single and multi degrees of freedom (DOF) plants and applications to haptics and functionally related systems are discussed. The paper concentrates on presenting the designs that are easy to apply and tune. The proposed algorithms are based on the application of the equivalent control observer and the convergence term that guaranty stability of the closed loop in a Lyapunov sense and enforces the sliding mode on selected manifolds. Presented SMC design leads to a solution that easily could be modified to include majority of the algorithms presented in the literature.