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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)

Publication Information

International Journal of Precision Engineering and Manufacturing / v.3, no.4, 2002 , pp. 94-100 More about this Journal

Abstract

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.

Keywords

Sliding Mode Control; Disturbance Estimation; Sampling Time; Regulating Control; Tracking Control;

Citations & Related Records

Reference

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