Application of a sub optimal discontinuous control algorithm for uncertain second order systems

In this paper the authors present a couple of algorithms, one for the case of analogue devices and one for the case of digital devices, that realize a nonlinear controller performing a second order sliding mode. These algorithms allow the finite time stabilization of uncertain second order nonlinear systems with incomplete state measurements. Two different applications of this technique are presented. In the first we deal with the problem of chattering avoidance in sliding mode control of uncertain nonlinear systems without using any observer, The second application shows that the developed algorithms allow the hybrid force/position continuous control of a two arms constrained planar manipulator even when the accelerations are not availabl