Model-Based Development of Control Systems for Forestry Cranes

Figure 14

Experimental results of disturbance rejection with a second-order SMC. (a) Angular link displacement in radians. The bold signal shows the results applying the state-dependent method (48), the striped signal shows results with the original formula (40), and the gray signal is the reference trajectory. (b) Control input. The bold signal shows the results applying the state-dependent method (48) and the gray signal shows results with the original formula (40). (c) Computed torque from pressure measurements. The bold signal shows the results applying the state-dependent method (48) and the gray signal shows results with the original formula (40).

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