동력기계공학회지 (Journal of Power System Engineering)
- 제9권4호
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- Pages.175-180
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- 2005
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- 2713-8429(pISSN)
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- 2713-8437(eISSN)
비선형 마찰을 고려한 유압비례제어 시스템의 적응 이산시간 슬라이딩모드 추적 제어기 설계
Design of Adaptive Discrete Time Sliding-Mode Tracking Controller for a Hydraulic Proportional Control System Considering Nonlinear Friction
초록
Incorrections between model and plant are parameter, system order uncertainties and modeling error due to disturbance like friction. Therefore to achieve a good tracking performance, adaptive discrete time sliding mode tracking controller is used under time-varying desired position. Based on the diophantine equation, a new discrete time sliding function is defined and utilized for the control law. Robustness is increased by using both a recursive least-square method and a sliding function-based nonlinear feedback. The effectiveness of the proposed control algorithm is proved by the results of simulation and experiment.
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