Title :
Discrete sliding mode control using multirate output feedback for motion servo system
Author :
Ngadengon, R. ; Sam, Y.M. ; Osman, J.H.S. ; Ghazali, Rozaimi
Author_Institution :
Dept. of Mechatron. & Robotic Eng., Univ. Tun Hussein Onn Malaysia, Batu Pahat, Malaysia
Abstract :
This paper presents a multirate output feedback based on discrete time sliding mode to control motion servo system. The method used the output information that is sampled at a faster rate than the control input to design controller. It has been shown that proper selection of the reaching law parameter can reduce the chattering problem. Simulation demonstrate that the controller is highly robust to control although exist uncertainties in the system.
Keywords :
control system synthesis; discrete time systems; feedback; motion control; servomechanisms; uncertain systems; variable structure systems; chattering problem; control input; controller design; discrete time sliding mode control; motion servo system; multirate output feedback; output information; Discrete Sliding Mode; Multirate Output Feedback;
Conference_Titel :
Soft Computing and Intelligent Systems (SCIS) and 13th International Symposium on Advanced Intelligent Systems (ISIS), 2012 Joint 6th International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4673-2742-8
DOI :
10.1109/SCIS-ISIS.2012.6505211
