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Characteristics of a Sliding Mode Controller with Disturbance Estimator  

Choe, Seung-Bok (Dept.of Mechanical Engineering, Inha University)
Ham, Jun-Ho (Dept.of Mechanical Engineering, Inha University)
Park, Jong-Seong (Dept.of Mechanical Engineering, Graduate School of Inha University)
Publication Information
Journal of the Korean Society for Precision Engineering / v.19, no.1, 2002 , pp. 165-171 More about this Journal
Abstract
The conventional sliding mode control(SMC) technique requires a priori knowledge of the upperbounds of disturbances or/and modeling uncertainties to assure robustness. This, however, may not to be easy to obtain in practical situation. This paper presents a new methodology, 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 is adopted as an illustrative example, and a comparative work between the conventional technique and the present one is undertaken.
Keywords
Sliding Mode Control; Disturbance Estimation; Sampling Time; Control Robustness;
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Times Cited By KSCI : 1  (Citation Analysis)
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