Sliding mode motion control

Author

Bengiamin, N.N. ; Magnuson, M.H.

Author_Institution

Dept. of Electr. Eng., North Dakota Univ., Grand Forks, ND, USA

fYear

1992

fDate

23-27 Feb 1992

Firstpage

389

Lastpage

394

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/APEC.1992.228384

Filename

228384