Sliding Mode Control of an Actuator

A novel kind of actuator which is used to suppress vibration of ship deck resulted from unbalanced moment of motor or screw propeller is presented in this paper. Frequency and magnitude of exciting force can be adjusted on line. The control equation of the actuator system is non-linear. For eliminating the effect of variation of system parameters and external disturbance on tracking capability, sliding mode control is introduced in the servo control system. In order to attenuate the chattering phenomena, reaching law is used to track the trajectory of position and velocity of the actuator. Simulation and experiments study have been carried out to evaluate the performance of the sliding mode controller, and the results show that the controller has achieved a performance with minimum reaching time and smooth control actions. In addition, the results also revealed that the controller has strong effectiveness and robustness of the trajectory tracking.