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A Study on High Accuracy Dscrete-Time Sliding Mode Control
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| Author(s) |
Asif Sabanovic, Khalid Abidi, Meltem Elitas |
| Abstract |
In this paper a Discrete-Time Sliding-Mode
based controller design for high accuracy motion
control systems is presented. The controller is
designed for a general SISO system with nonlinearity
and external disturbance. Closed-Loop behavior of
the general system with the proposed control and
Lyapunov stability is shown and the error of the
closed loop system is proven to be within an o(T2). The
proposed controller is applied to a stage driven by a
piezo drive that is known to suffer from hysteresis
nonlinearity in the control gain. Proposed SMC
controller is proven to offer chattering-free motion
and rejection of the disturbances represented by
hysteresis and the time variation of the piezo drive
parameters. As a separate idea to enhance the
accuracy of the closed loop system a combination of
disturbance rejection method and the SMC controller
is explored and its effectiveness is experimentally
demonstrated. Closed-loop experiments are presented
using PID controller with and without disturbance
compensation and Sliding-Mode Controller with and
without disturbance compensation for the purpose of
comparison. |
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| Filename: | T5-401.pdf |
| Filesize: | 243.5 KB |
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| Type |
Members Only |
| Date |
Last modified 2007-03-12 by System |
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