Application of Perturbation Estimation using Fractional-Order Hold Technique to Sliding Mode Control

Fractional-Order Hold기법을 이용한 섭동 추정기의 슬라이딩 모드 제어에 적용

  • 남윤주 (부사대학교 대학원 지능기계공학과) ;
  • 이육형 (부산대학교 기계기술연구소) ;
  • 박명관 (부산대학교 기계공학부 및 기계기술연구소)
  • Published : 2006.01.01

Abstract

This paper deals with the application of enhanced perturbation estimation (SMCEPE) to sliding mode control of a dynamic system in the presence of perturbations including external disturbances, unpredictable parameter variations, and unstructured dynamics. Compared to conventional sliding mode control (SMC) and sliding mode control with perturbation estimation (SMCPE), the proposed one can offer robust control performances under serious control conditions, such as fast dynamic perturbations and slow loop-closure speeds, without a priori knowledge on upper bounds of perturbations. The perturbation estimator in SHCEPE also has more adaptability owing to the fractional-order hold technique. The effectiveness and superiority of the proposed control strategy are demonstrated by a series of simulations on the position tracking control of a two-link robot manipulator.

Keywords

References

  1. Kim, N. I., Lee, C. W. and Chang, P. H., 'Sliding mode control with perturbation estimation: application to motion control of parallel manipulator,' Control Engineering Practice, Vol.6, No. 11, pp. 1321-1330, 1998 https://doi.org/10.1016/S0967-0661(98)00090-2
  2. Chen, J. W., Choi, S. B., Song, H. J. and Ham, J. H., 'Position Control of an AC servo motor using sliding mode controller with disturbance estimator,' International Journal of Precision Engineering and Manufacturing, Vol. 5, No.4, pp. 14-20, 2004
  3. Song, G, Longman, R. W. and Mukherjee, R., 'Integrated sliding-mode adaptive-robust control,' IEE Proceedings-Control Theory and Applications, Vol. 146, No.4, pp. 341-347,1999 https://doi.org/10.1049/ip-cta:19990435
  4. Roh, Y. H. and Oh, J. H., 'Sliding mode control with uncertainty adaptation for uncertain input-delay systems,' International Journal of Control, Vol. 73, No. 13, pp. 1255-1260, 2000 https://doi.org/10.1080/002071700417894
  5. Lee, S. M. and Lee, B. H., 'A discrete-time sliding mode controller and observer with computation time delay,' Control Engineering Practice, Vol. 7, No.8, pp. 943-955, 1999 https://doi.org/10.1016/S0967-0661(99)00044-1
  6. Utkin, V. I., Guldner, J. and Shi, J., 'Sliding Mode Control in Electromechanical Systems,' Taylor & Francis, London, 1999
  7. Young, K. D., Utkin, V. I. and Ozguner, U., 'A control engineer's guide to sliding mode control,' IEEE Tansactions on Control Systems Technology, Vol. 7, No.3, pp. 328-342, 1999 https://doi.org/10.1109/87.761053
  8. Siotine, J.-J. E. and Sastry, S. S., 'Tracking control of nonlinear systems using sliding surfaces with applications to robot manipulators,' International Journal of Control, Vol. 38, No. 2, pp. 465-492, 1983 https://doi.org/10.1080/00207178308933088
  9. Kachroo, P. and Tornizuka, M., 'Chattering reduction and error convergence in the sliding-mode control of a class of nonlinear systems,' IEEE Transactions on Automatic Control, Vol. 41, No. 7, pp. 1063-1068, 1996 https://doi.org/10.1109/9.508917
  10. Zhang, D. Q. and Panda, S. K., 'Chattering-free and fast-response sliding mode controller,' IEE Proceedings-Control Theory and Applications, Vol. 146, No. 2, pp. 171-177, 1999 https://doi.org/10.1049/ip-cta:19990518
  11. Elmali, H. and Olgac, N., 'Theory and implementation of sliding mode control with perturbation estimation (SMCPE),' Proceedings of the IEEE international conference on Robotics and Automation, Nice, France, pp. 2114-2119, 1992 https://doi.org/10.1109/ROBOT.1992.219969
  12. Chan, S. P., 'An approach to perturbation compensation for variable structure systems,' Automatica, Vol. 32, No. 3, pp. 469-473, 1996 https://doi.org/10.1016/0005-1098(95)00161-1
  13. Elmali, H. and Olgac, N., 'Implementation of sliding mode control with perturbation estimation (SMCPE),' IEEE Transactions on Control Systems Technology, Vol. 4, No. 1, pp. 79-85, 1996 https://doi.org/10.1109/87.481770
  14. Youcef-Toumi, K. and Ito, O., 'A time delay controller for systems with unknown dynamics,' ASME Journal of Dynamic Systems, Measurement and Control, Vol. 112, No.1, pp. 133-142, 1990 https://doi.org/10.1115/1.2894130
  15. Youcef-Toumi, K. and Wu, S.-T., 'Input/output linearization using time delay control,' ASME Journal of Dynamic Systems, Measurement and Control, Vol. 114, pp. 204-212, 1992 https://doi.org/10.1115/1.2896516
  16. Phillips, C. L. and Nagle, H. T., 'Digital Control System Analysis and Design,' Prentice Hall, London, 1997