Title :
Sliding mode motion control
Author :
Bengiamin, N.N. ; Magnuson, M.H.
Author_Institution :
Dept. of Electr. Eng., North Dakota Univ., Grand Forks, ND, USA
Abstract :
The authors introduce sliding mode control (SMC) as a counterpart to conventional proportional plus integral plus derivative (PID) control. High performance and tuning simplicity features of the SMC are emphasized and demonstrated through implementation and test results. Robustness and insensitivity to parameter excursions, external disturbances, and modeling inaccuracies are salient characteristics of the developed controller. An IBM/AT-based SM servo controller suitable for individual and coordinated motion control is presented. Hardware and software development and associated features are discussed
Keywords :
digital control; microcomputer applications; position control; servomechanisms; variable structure systems; PID; controller; hardware; microprocessors; motion control; performance; robustness; servomechanisms; sliding mode control; software; three-term control; tuning; variable structure systems; Motion control; PD control; Pi control; Proportional control; Robust control; Samarium; Servomechanisms; Sliding mode control; Testing; Three-term control;
Conference_Titel :
Applied Power Electronics Conference and Exposition, 1992. APEC '92. Conference Proceedings 1992., Seventh Annual
Conference_Location :
Boston, MA
Print_ISBN :
0-7803-0485-3
DOI :
10.1109/APEC.1992.228384
