Sliding mode based disturbance compensation for motion control

Author

Korondi, Peter ; Young, David ; Hashimoto, Hideki

Author_Institution

Dept. of Electr. Eng., Tech. Univ. Budapest, Hungary

Volume

1

fYear

1997

fDate

9-14 Nov 1997

Firstpage

73

Abstract

The main contribution of this paper is a sliding mode based design of a discontinuous disturbance estimator used in feedback compensation of parameter uncertainties and exogenous disturbances. The experimental system is a transputer controlled single-degree-of-freedom motion control system, it consists of a conventional DC servo gear motor with encoder feedback and variable inertia load coupled by a relatively rigid shaft. The servo system is forced to follow an ideal model. The relative big parameter perturbation, external disturbance and friction are estimated and compensated. Experimental results are presented

Keywords

DC motors; compensation; feedback; friction; machine control; motion control; observers; servomotors; transputer systems; variable structure systems; DC servo gear motor; big parameter perturbation; discontinuous disturbance estimator; disturbance observer; encoder feedback; exogenous disturbances; external disturbance; feedback compensation; friction; friction compensation; motion control; parameter uncertainties; rigid shaft; sliding mode based disturbance compensation; transputer controlled single-degree-of-freedom motion control system; variable inertia load; Control systems; Couplings; DC motors; Feedback; Gears; Motion control; Servomechanisms; Servomotors; Sliding mode control; Uncertain systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control and Instrumentation, 1997. IECON 97. 23rd International Conference on

Conference_Location

New Orleans, LA

Print_ISBN

0-7803-3932-0

Type

conf

DOI

10.1109/IECON.1997.671024

Filename

671024