Discrete-time sliding mode based feedback compensation for motion control

Author

Korondi, Péter ; Young, K. K David ; Hashimoto, Hideki

Author_Institution

Dept. of Autom., Tech. Univ. Budapest, Hungary

fYear

1996

fDate

5-6 Dec 1996

Firstpage

127

Lastpage

131

Abstract

The main contribution of this paper to examine, via experimental investigations of a type 2 servomechanism, the engineering feasibility of a sliding mode based control design, in which a discontinuous estimator is used in feedback compensation of uncertainties and exogenous disturbances. Experimental results of a transputer controlled single-degree-of-freedom motion control system are presented. The experimental system consists of a conventional DC servo gear motor with encoder feedback and variable inertia load coupled by a relatively rigid shaft

Keywords

DC motor drives; compensation; computerised control; control system synthesis; discrete time systems; encoding; feedback; motion control; servomechanisms; transputer systems; variable structure systems; DC servo gear motor; discontinuous estimator; discrete-time sliding mode based feedback compensation; encoder feedback; exogenous disturbances; motion control; rigid shaft; sliding mode based control design; transputer controlled 1-DOF motion control system; type 2 servomechanism; uncertainties; variable inertia load; Control design; Control systems; DC motors; Design engineering; Feedback; Gears; Motion control; Servomechanisms; Sliding mode control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Variable Structure Systems, 1996. VSS '96. Proceedings., 1996 IEEE International Workshop on

Conference_Location

Tokyo

Print_ISBN

0-7803-3718-2

Type

conf

DOI

10.1109/VSS.1996.578577

Filename

578577