DocumentCode
2360150
Title
Time-delay sliding mode control for a servo
Author
Jong Hyeon Park ; You Moo Kim ; Jong Guk Yim
Author_Institution
Dept. of Precision Mech. Eng., Hanyang Univ., Seoul, South Korea
fYear
1997
fDate
20-20 June 1997
Firstpage
147
Abstract
Summary form only given. Time delay control (TDC) is a method using the past time delay terms to eliminate the current unknown dynamics and disturbance. Sliding mode control (SMC) uses discontinuous control inputs to be insensitive to parameter variations and disturbance. We propose modifications to TDC by adopting integral SMC which guarantees the robustness, and which decreases chattering. This algorithm is implemented to control positions of a DC servo motor with a seal installed at its main axis, which produces stick-slip friction.
Keywords
DC motors; control nonlinearities; delays; machine control; position control; robust control; servomotors; variable structure systems; DC servo motor; chattering; discontinuous control; disturbance; robustness; stick-slip friction; time-delay sliding mode control; unknown dynamics; DC motors; Delay effects; Friction; Robust control; Robustness; Seals; Servomechanisms; Servomotors; Sliding mode control; Steady-state;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics '97. Final Program and Abstracts., IEEE/ASME International Conference on
Conference_Location
Tokyo, Japan
Print_ISBN
0-7803-4080-9
Type
conf
DOI
10.1109/AIM.1997.653021
Filename
653021
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