Exempel på chattering

• In this paper a new method of suppressing chattering is presented.

• Note also that the dual self-motion continues for a relatively long period of time during which a chattering-type behavior is observed.

• However, they needed a supervisory controller-like component in the control input, which is basically a discrete switching function and may cause unnecessary chattering.

• Although the chattering effect is obvious, its amplitude is small due to the used bounds.

• Therefore, double cutting action and chattering reduction can be achieved simultaneously.

• Furthermore, the "second order" interest consists in the reduction of chattering phenomenon.

• The approach to proposed robot control involves using a neural network feedforward loop together with a discrete time 'chattering-free' feedback loop.

• Although the acceleration error converges to zero under the steady state conditions, chattering appears because the sign(s) function is involved in the control input.

• However, due to the presence of the sliding mode control block in the feedback loop, the occurrence of undesirable chattering is unavoidable.

• Chattering cells: superficial pyramidal neurons contributing to the generation of synchronous oscillations in the visual cortex.

• Simulation results show that the developed system significantly reduces the chattering of the deburring robot and improves the accuracy of the deburring operation.

• In practice, variable structure controllers result in input chattering because high frequency switching action is required in generating the control input.

• Figure 3 shows that the smaller the value of is chosen, the better the tracking performance, but the worse the chattering of the inputs.

• When zoomed in, a quick change in the sign of the torque becomes evident across the singular point, however, no chattering is observed.

• As the result the acceleration becomes discontinuous and consequently velocity exhibits high frequency oscillations - so called chattering.