Observer-Based Design of Motion Control Systems in Sliding Mode Control Framework

This paper presents a comprehensive treatment of the complex motion control systems in 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 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.