Experimental evaluation of novel high order sliding mode controllers for high performance direct drive systems

Keyphrases

• High Performance 100%
• Direct Drive System 100%
• Higher Order Sliding Mode Controller 100%
• Torque Ripple 30%
• Actuator Dynamics 30%
• Direct Drive 30%
• Tracking Accuracy 20%
• High-performance Control 20%
• Structural Flexibility 20%
• Continuous Input 20%
• Steady State 10%
• Controller 10%
• Simulation Study 10%
• System Dynamics 10%
• Ripple Effect 10%
• Human-in-the-loop 10%
• Transient State 10%
• Degrees of Freedom 10%
• Full System 10%
• Single Link 10%
• Control Design 10%
• External Disturbances 10%
• Internal Dynamics 10%
• Gear Mechanism 10%
• Control Applications 10%
• Robotic System 10%
• Dynamic Effects 10%
• Gravity Effect 10%
• Link Dynamics 10%
• Load Variation 10%
• Dynamic Torque 10%
• Dynamic Flexibility 10%
• 2nd Order 10%
• Additional Needs 10%
• System Order 10%
• Structured Uncertainty 10%
• Direct Drive Motor 10%
• Flexible Link 10%
• Direct Drive Robot 10%
• Drive Structure 10%
• Control Accuracy 10%
• Unstructured Uncertainty 10%
• Increased Effect 10%
• High Speed Control 10%

Engineering

• Drive System 100%
• Sliding Mode Controller 100%
• Link Arm 20%
• Continuous Input 20%
• Transients 10%
• Degree of Freedom 10%
• Motor Drive 10%
• Robotic System 10%
• Single Link 10%
• Control Design 10%
• External Disturbance 10%
• Internal Dynamic 10%
• Dynamic Effect 10%
• Robot 10%
• Load Variation 10%