A class of second-order sliding mode controller for servo systems

被引：5

作者：

Zhang, Dailin ^{[1
,2
]}

Kong, Tom C. ^{[2
]}

Du, Ruxu ^{[2
]}

机构：

[1] School of Mechanical Science and Engineering, Huazhong University of Science and Technology

[2] Institute of Precision Engineering, The Chinese University of Hong Kong, Hong Kong

来源：

Journal of Control Theory and Applications | 2012年 / 10卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Disturbance suppression; Position tracking; Servo system; Sliding mode control (SMC);

D O I：

10.1007/s11768-012-9292-x

中图分类号：

学科分类号：

摘要：

Sliding mode control (SMC) has been widely investigated in recent years. In this paper, a class of secondorder SMC is proposed and used to achieve good tracking performance in servo systems. SMC has good robustness to the disturbances, but conventional SMC uses a sign function to drive the error on the sliding surface, which could generate chattering effect. In order to avoid this problem, our improved SMC uses the integral of the sign function. Coupled with an exponential reaching law, the new SMC can better suppress torque disturbances and chatter. This paper first gives the derivation of the new SMC. Simulation and experimental results are then carried out to demonstrate its tracking performance and robustness against torque disturbance and chatter. © 2012 South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.

引用

页码：268 / 272

页数：4

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