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Overcoming the Underestimation and Overestimation Problems in Adaptive Sliding Mode Control. / Roy, Spandan; Roy, Sayan Basu; Lee, Jinoh; Baldi, Simone.

In: IEEE/ASME Transactions on Mechatronics, Vol. 24, No. 5, 2019, p. 2031-2039.

Research output: Contribution to journalArticleScientificpeer-review

Harvard

Roy, S, Roy, SB, Lee, J & Baldi, S 2019, 'Overcoming the Underestimation and Overestimation Problems in Adaptive Sliding Mode Control' IEEE/ASME Transactions on Mechatronics, vol. 24, no. 5, pp. 2031-2039. https://doi.org/10.1109/TMECH.2019.2930711

APA

Vancouver

Author

Roy, Spandan ; Roy, Sayan Basu ; Lee, Jinoh ; Baldi, Simone. / Overcoming the Underestimation and Overestimation Problems in Adaptive Sliding Mode Control. In: IEEE/ASME Transactions on Mechatronics. 2019 ; Vol. 24, No. 5. pp. 2031-2039.

BibTeX

@article{1df8add496db4bdda34b01c110090933,
title = "Overcoming the Underestimation and Overestimation Problems in Adaptive Sliding Mode Control",
abstract = "Underestimation and overestimation problems are commonly observed in conventional adaptive sliding mode control (ASMC). These problems refer to the fact that the adaptive controller gain unnecessarily increases when the states are approaching the sliding surface (overestimation) or improperly decreases when the states are getting far from it (underestimation). In this paper, we propose a novel ASMC strategy that overcomes such issues. In contrast to the state of the art, the proposed strategy is effective even when an a priori constant bound on the uncertainty cannot be imposed. Comparative results using a two-link manipulator demonstrate improved performance as compared to the conventional ASMC. Experimental results on a biped robot confirm the effectiveness and robustness of the proposed method under various practical uncertainties.",
keywords = "Adaptive sliding mode control (ASMC), switching gain, underestimation and overestimation",
author = "Spandan Roy and Roy, {Sayan Basu} and Jinoh Lee and Simone Baldi",
note = "Accepted Author Manuscript",
year = "2019",
doi = "10.1109/TMECH.2019.2930711",
language = "English",
volume = "24",
pages = "2031--2039",
journal = "IEEE - ASME Transactions on Mechatronics",
issn = "1083-4435",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
number = "5",

}

RIS

TY - JOUR

T1 - Overcoming the Underestimation and Overestimation Problems in Adaptive Sliding Mode Control

AU - Roy, Spandan

AU - Roy, Sayan Basu

AU - Lee, Jinoh

AU - Baldi, Simone

N1 - Accepted Author Manuscript

PY - 2019

Y1 - 2019

N2 - Underestimation and overestimation problems are commonly observed in conventional adaptive sliding mode control (ASMC). These problems refer to the fact that the adaptive controller gain unnecessarily increases when the states are approaching the sliding surface (overestimation) or improperly decreases when the states are getting far from it (underestimation). In this paper, we propose a novel ASMC strategy that overcomes such issues. In contrast to the state of the art, the proposed strategy is effective even when an a priori constant bound on the uncertainty cannot be imposed. Comparative results using a two-link manipulator demonstrate improved performance as compared to the conventional ASMC. Experimental results on a biped robot confirm the effectiveness and robustness of the proposed method under various practical uncertainties.

AB - Underestimation and overestimation problems are commonly observed in conventional adaptive sliding mode control (ASMC). These problems refer to the fact that the adaptive controller gain unnecessarily increases when the states are approaching the sliding surface (overestimation) or improperly decreases when the states are getting far from it (underestimation). In this paper, we propose a novel ASMC strategy that overcomes such issues. In contrast to the state of the art, the proposed strategy is effective even when an a priori constant bound on the uncertainty cannot be imposed. Comparative results using a two-link manipulator demonstrate improved performance as compared to the conventional ASMC. Experimental results on a biped robot confirm the effectiveness and robustness of the proposed method under various practical uncertainties.

KW - Adaptive sliding mode control (ASMC)

KW - switching gain

KW - underestimation and overestimation

UR - http://www.scopus.com/inward/record.url?scp=85073295939&partnerID=8YFLogxK

U2 - 10.1109/TMECH.2019.2930711

DO - 10.1109/TMECH.2019.2930711

M3 - Article

VL - 24

SP - 2031

EP - 2039

JO - IEEE - ASME Transactions on Mechatronics

T2 - IEEE - ASME Transactions on Mechatronics

JF - IEEE - ASME Transactions on Mechatronics

SN - 1083-4435

IS - 5

ER -

ID: 66543148