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

Nam Yun Joo (부사대학교 대학원 지능기계공학과)
Lee Yuk-Hyung (부산대학교 기계기술연구소)
Park Myeong-Kwan (부산대학교 기계공학부 및 기계기술연구소)
Publication Information
Journal of the Korean Society for Precision Engineering / v.23, no.1, 2006 , pp. 121-128 More about this Journal
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
Fractional-Order Hold, Perturbation Estimation; Robust Control; Sliding Mode control; Tracking control;
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Times Cited By KSCI : 1  (Citation Analysis)
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