Sliding Mode Minimum-Energy Control for a Mechatronic Motor-Table System

In this paper, the proposed sliding mode minimum-energy control (SMMEC) consists of sliding-mode control (SMC) and minimum-energy control (MEC), and is proposed for a mechatronic motor-table system. First, the complete mathematical model containing the mechanical and electrical equations is successfully formulated, and the energy balance equation is found. Second, the MEC based on Hamiltonian function is exactly obtained from the linear motor-table system. The SMC is added to have the good robustness control performance for the nonlinear motor-table system with external loading, forces and frictions. Our main contribution in this paper is to integrate the MEC's minimum energy and SMC's robustness control performances, and the SMMEC is proposed to perform the robust MEC for the nonlinear mechatronic motor-table system. Finally, the proposed SMMEC is realized by experiments to validate its performance of robustness and saving energy, and comparisons between numerical simulations and experimental results are made for the nonlinear mechatronic motor-table system.