Title :
Robust servo-system based on two-degree-of-freedom control with sliding mode
Author :
Fujimoto, Yasutaka ; Kawamura, Atsuo
Author_Institution :
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan
Abstract :
A robust-servo-system, based on a combination of disturbance observer and sliding mode control have been proposed. In this paper, disturbance observer is designed on the parametrization of two-degree-of-freedom control system. Through the simulations and experiments, it was proved that the introduction of nonlinear control (sliding mode) improves the disturbance suppression characteristics of a linear system with a disturbance observer
Keywords :
nonlinear control systems; servomechanisms; stability; variable structure systems; 2-d.o.f. control; disturbance observer; disturbance suppression characteristics; nonlinear control; robust servo-system; sliding mode; Control systems; DC motors; Ice; Linear systems; Manipulators; Robust control; Rotors; Servomotors; Sliding mode control; Torque;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-0891-3
DOI :
10.1109/IECON.1993.339101
