Higher order sliding mode precision-limit positioning of a direct drive system

S. K. Spurgeon, C. Hsieh, C. Edwards, Chieh-Li Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper considers the application of a higher order sliding mode control algorithm to the problem of precision-limit positioning of a direct drive system in the presence of friction. Precision-limit positioning requires that the precision error is equal to the resolution of the sensor. Such high levels of control performance have not been generally considered possible because of the problems encountered in accurately modelling static friction. This paper employs a recently developed model of static friction and develops a higher order sliding mode position control algorithm. This algorithm does not require the output derivative (or velocity) to be measured or observed and merely employs the position error measurement to generate the control signal. This coincides with a fundamental requirement of precision limit positioning that only digital position measurement is used by the controller. Simulation and experimental results show good correlation. It is demonstrated that higher order sliding mode control is an appropriate technique for such precision limit position control.

Original languageEnglish
Title of host publicationEuropean Control Conference, ECC 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1703-1708
Number of pages6
ISBN (Electronic)9783952417379
Publication statusPublished - 2003 Apr 13
Event2003 European Control Conference, ECC 2003 - Cambridge, United Kingdom
Duration: 2003 Sep 12003 Sep 4

Publication series

NameEuropean Control Conference, ECC 2003

Other

Other2003 European Control Conference, ECC 2003
CountryUnited Kingdom
CityCambridge
Period03-09-0103-09-04

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • Cite this

    Spurgeon, S. K., Hsieh, C., Edwards, C., & Chen, C-L. (2003). Higher order sliding mode precision-limit positioning of a direct drive system. In European Control Conference, ECC 2003 (pp. 1703-1708). [7085210] (European Control Conference, ECC 2003). Institute of Electrical and Electronics Engineers Inc..