Title :
Robust motion control algorithm for belt-driven servomechanism
Author :
A. Hace;K. Jezernik;M. Terbuc
Author_Institution :
Fac. of Electr. Eng. & Comput. Sci., Maribor Univ., Slovenia
Abstract :
This paper presents a derivation of a new motion control algorithm which addresses the control of a belt-driven servomechanism. The control algorithm is obtained by using sliding mode control theory and Lyapunov design. The control law performance is robust and chattering free, since it uses continuous control action. The algorithm is implemented in a industrial motion controller for a laser-cutting machine. Experimental results are shown.
Keywords :
"Robust control","Motion control","Servomechanisms","Sliding mode control","Mechanical systems","Mechanical variables control","Uncertainty","Control systems","Motion estimation","Machine tools"
Conference_Titel :
Industrial Electronics, 1999. ISIE ´99. Proceedings of the IEEE International Symposium on
Print_ISBN :
0-7803-5662-4
DOI :
10.1109/ISIE.1999.798732
