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

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

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題European Control Conference, ECC 2003
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1703-1708
頁數6
ISBN(電子)9783952417379
出版狀態Published - 2003 四月 13
事件2003 European Control Conference, ECC 2003 - Cambridge, United Kingdom
持續時間: 2003 九月 12003 九月 4

出版系列

名字European Control Conference, ECC 2003

Other

Other2003 European Control Conference, ECC 2003
國家United Kingdom
城市Cambridge
期間03-09-0103-09-04

    指紋

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

引用此

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