대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제26권9호
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  • Pages.1859-1865
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  • 2002
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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섭동 추정기를 갖는 슬라이딩 모드 제어기의 성능 평가

Performance Evaluation of Sliding Mode Controller with Perturbation Estimator

  • 발행 : 2002.09.01
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초록

In the conventional sliding mode control technique, a priori knowledge of the bound of external disturbances or/and parameter uncertainties is required to assure control robustness. This, however, may not be easy to obtain in practical situation. This work presents a novel methodology, a sliding mode controller with perturbation estimator, which offers a robust control performance without a priori knowledge about the perturbations (disturbances and parameter uncertainties). The proposed technique is featured by an integrated average value of the imposed perturbation over a certain sampling period. In order to demonstrate the effectiveness of the proposed methodology, a two-link robotic system is adopted and its position control performance is evaluated. In addition, a comparative work between the conventional technique and the proposed one is undertaken.

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참고문헌

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