Model-free tuning solution for sliding mode control of servo systems

Author

Precup, Radu-Emil ; Radac, Mircea-Bogdan ; Dragos, Claudia-Adina ; Preitl, Stefan ; Petriu, Emil M.

Author_Institution

Dept. of Autom. & Appl. Inf., Politeh. Univ. of Timisoara, Timisoara, Romania

fYear

2014

fDate

March 31 2014-April 3 2014

Firstpage

30

Lastpage

35

Abstract

This paper suggests a model-free tuning solution for a sliding mode control system (SMCS) structure dedicated to servo systems. The new SMCS structure is viewed in the framework of reference trajectory tracking using a first-order nonlinear dynamic system as a local approximation of the process model. The sliding mode control signal augments the control signal specific to a model-free PI control system (CS) structure in order to compensate for the estimation errors which affect the systematic design and performance. The derivatives in the local approximation of the process model are estimated numerically using a Savitzky-Golay filter to carry out both differentiation and smoothing. A simple design approach is proposed for the SMCS structure. The real-time experimental results concerning the speed control of a laboratory nonlinear DC servo system prove the performance improvement of the SMCS structure against a model-free PI CS structure.

Keywords

PI control; approximation theory; control system synthesis; nonlinear dynamical systems; variable structure systems; SMCS structure; Savitzky-Golay filter; first-order nonlinear dynamic system; local approximation; model-free PI control system; model-free tuning solution; reference trajectory tracking; servo systems; simple design approach; sliding mode control system; Linear approximation; Mathematical model; Process control; Servomotors; Sliding mode control; Trajectory; Tuning; Savitzky-Golay filters; model-free PI control system structure; model-free tuning solution; reference trajectory tracking; servo systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems Conference (SysCon), 2014 8th Annual IEEE

Conference_Location

Ottawa, ON

Print_ISBN

978-1-4799-2087-7

Type

conf

DOI

10.1109/SysCon.2014.6819232

Filename

6819232