Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Characteristics of a Sliding Mode Controller with Disturbance Estimator

외란 추정기를 갖는 슬라이딩 모드 제어기의 특성

  • Choe, Seung-Bok (Dept.of Mechanical Engineering, Inha University) ;
  • Ham, Jun-Ho (Dept.of Mechanical Engineering, Inha University) ;
  • Park, Jong-Seong (Dept.of Mechanical Engineering, Graduate School of Inha University)
  • 최승복 (인하대학교 기계공학과) ;
  • 함준호 (인하대학교 기계공학과) ;
  • 박종성 (인하대학교 대학원 기계공학과)
  • Published : 2002.01.01
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Abstract

The conventional sliding mode control(SMC) technique requires a priori knowledge of the upperbounds of disturbances or/and modeling uncertainties to assure robustness. This, however, may not to be easy to obtain in practical situation. This paper presents a new methodology, sliding mode control with disturbance estimator(SMCDE), which offers a robust control performance without a priori knowledge about the disturbance. The proposed technique is featured by an average value of the imposed disturbance over a certain period. A nonlinear spring-mass-damper system is adopted as an illustrative example, and a comparative work between the conventional technique and the present one is undertaken.

Keywords

References

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