Higher order sliding mode control of a stepper motor

Author

Defoort, M. ; Nollet, F. ; Floquet, T. ; Perruquetti, W.

Author_Institution

CNRS, Villeneuve-d´´Ascq

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

4002

Lastpage

4007

Abstract

This paper deals with the design and the experimental implementation of a robust higher order sliding mode controller for the stepper motor. The control objective is to track in finite time a given position reference trajectory. The developed algorithm provides a control based on geometric homogeneity with an additional integral sliding mode term which completely dismisses the influence of uncertainties from the initial time instant. Some experimental results illustrate the properties and the robustness of the controller with respect to parameter uncertainties and load torque perturbation

Keywords

machine control; perturbation techniques; position control; stability; stepping motors; variable structure systems; finite time stability; geometric homogeneity; load torque perturbation; parameter uncertainties; position reference trajectory; robustness; sliding mode control; stepper motor; Control systems; Convergence; Nonlinear control systems; Reluctance motors; Robust control; Robustness; Sliding mode control; Torque control; Trajectory; Uncertainty; Finite time stability; higher order sliding mode control; integral sliding mode; observer; stepper motor;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.377653

Filename

4177202