International Journal of Precision Engineering and Manufacturing

  • 제3권4호
  • /
  • Pages.94-100
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  • 2002
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  • 2234-7593(pISSN)
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  • 2005-4602(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

Design and Application of a New Sliding Mode Controller with Disturbance Estimator

  • Park, Seung-Bok (Department of Mechanical Engineering, Inha University) ;
  • Ham, Joon-Ho (Department of Mechanical Engineering, Inha University) ;
  • Park, Jong-Sung (Department of Mechanical Engineering, Inha University)
  • 발행 : 2002.10.01
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초록

The conventional sliding mode control (SMC) technique requires a priori knowledge of the upperbounds of disturbances and/or modeling uncertainties to assure robustness. This, however, may not be easy to obtain in practical situation. This paper presents a new methodology, a sliding mode control with disturbance estimator (SMCDE), which offers a robust control performance without a priori knowledge about the disturbance. The proposed technique is featured by an average value of the imposed disturbance over a certain period. A nonlinear spring-mass-damper system and a two-link robot system are adopted as illustrative application examples. Control performances such as estimation error and tracking error are compared between the proposed methodology and conventional scheme.

키워드

참고문헌

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