Implementation of sliding mode control with perturbation estimation (SMCPE)

Author

Elmali, Hakan ; Olgac, Nejat

Author_Institution

Dept. of Mech. Eng., Connecticut Univ., Storrs, CT, USA

Volume

4

Issue

1

fYear

1996

fDate

1/1/1996 12:00:00 AM

Firstpage

79

Lastpage

85

Abstract

Experimental verification of a recently developed algorithm, sliding mode control with perturbation estimation (SMCPE), is performed, a two-axes planar SCARA type robot is used as the test platform. The controller is a PC-based microprocessor with transducer and actuator interfaces. The objective of trajectory tracking is achieved by directly controlling the joint torques, despite the modeling deficiencies and unknown disturbances. Two major practical issues are considered. One of them is the measurement noise and the other is the hard/software limitations on the control loop closure speed. Both of these issues affect the parametric selections with the SMCPE algorithm. A sample test result is presented, to compare the performance of SMCPE with the classical SMC

Keywords

computerised control; digital filters; microcomputer applications; motion control; nonlinear control systems; perturbation techniques; robot dynamics; state estimation; variable structure systems; PC-based control; control loop closure speed; measurement noise; motion control; perturbation estimation; planar SCARA type robot; sliding mode control; trajectory tracking; Actuators; Microprocessors; Performance evaluation; Robots; Sliding mode control; Testing; Torque control; Trajectory; Transducers; Velocity measurement;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.481770

Filename

481770