Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Structural Design of Sliding Mode Controllers Using Robust Inernal-Loop Compensator

강인 내부루프 보상기를 이용한 슬라이딩 모드 제어기의 구조적 설계

  • Kim, Bong-Keun (Dept. of Mechanical Engineering, Pohang University of Science and Technology) ;
  • Chung, Wan-Kyun (Dept. of Mechanical Engineering, Pohang University of Science and Technology)
  • 김봉근 (포항공과대학교 기계공학과) ;
  • 정완균 (포항공과대학교 기계공학과)
  • Published : 2001.04.01
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Abstract

In this paper, a generalized framework called as robust internal-loop compensator(RIC) is presented, and by using this, a structural design method of sliding of sliding mode controller is proposed. First, a general sliding mode controller is derived and a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, RIC is proposed. Next, using the structural characteristics of the proposed RIC, disturbance attenuation characteristics are analyzed and the performance of the closed-loop system is predicted. Through this analysis, it is shown that if the control gain of RIC is increased by N times, the magnitude of error is reduced to its 1/N. the proposed method is verified through experiments using a high-precision positioning system and the performance is evaluated.

Keywords

References

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