An Adaptive Sliding Mode Controller with Tracking Differentiator for Servo Systems

• 영문명: An Adaptive Sliding Mode Controller with Tracking Differentiator for Servo Systems
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Jin Huang Bao-Yan Duan Hai-Long Wang
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.6 No.2, 57~61쪽, 전체 5쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2005.07.01

영문 초록

  A sliding mode controller with parameter adaptation and a tracking differentiator is proposed for servo systems with unknown disturbances. The parameter adaptation is introduced both in order to enhance the disturbance rejection properties of the closed loop system, and to maintain the tracking performance despite plant parameter changes. In addition, a tracking differentiator is integrated with the sliding mode controller to get noise free differential signals to further improve the system performance. The proposed controller has been implemented and tested with an industrial Ink-jet plotter. Experimental results show that the controller achieves minimum tracking error and robust functionality.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. SLIDING MODE CONTROLLER
Ⅲ. IMPLEMENTATION OF SMC WITH TD
Ⅳ. EXPERIMENTAL RESULTS
Ⅴ. SUMMARY
ACKNOWLEDGEMENTS
REFERENCES

키워드

Sliding mode control tracking differentiator servo systems