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Experiments of Sliding Mode Control of Time-Delayed Dynamical Systems With Model Uncertainty

[+] Author Affiliations
Zhi-Chang Qin, Shun Zhong

Tianjin University, Tianjin, China

Jian-Qiao Sun

University of California, Merced, Merced, CA

Paper No. DETC2013-13079, pp. V07BT10A067; 7 pages
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7B: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5597-3
  • Copyright © 2013 by ASME


This paper presents simulation and experimental results of sliding mode control of nonlinear mechanical systems with time delay in the control loop. A flexible link oscillator made by Quanser is used as the target system. Geometric nonlinearity of the spring is included in the model, and the system is assumed to have parameter uncertainties. A sliding mode control with time delay is designed with the method of continuous time approximation. Both computer simulations and experiments show that the sliding mode control gives quite robust performance in the presence of model uncertainty.

Copyright © 2013 by ASME



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