Title :
Sliding mode servomechanism design
Author :
Acarman, Tankut ; Özgüner, Ümit
Author_Institution :
Faculty of Engineering and Technology, Computer Engineering, University of Galatasaray, TR-34357 ¿stanbul, Turkey
Abstract :
In this paper, a frequency-shaped optimal sliding mode approach combined with Lyapunov based backstepping design is presented to solve the robust servomechanism problem. The parametric uncertainties, unmodeled dynamics and uncertain exogenous disturbance belonging to a specified class are attenuated by using compensator dynamics introduced in sliding mode through an augmented dynamic sliding surface.
Keywords :
Backstepping; Control systems; Frequency; Optimal control; Output feedback; Robust control; Servomechanisms; Sliding mode control; State feedback; Uncertainty;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich, Germany
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776781
