Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Application of Perturbation Estimation using Fractional-Order Hold Technique to Sliding Mode Control

Fractional-Order Hold기법을 이용한 섭동 추정기의 슬라이딩 모드 제어에 적용

  • 남윤주 (부사대학교 대학원 지능기계공학과) ;
  • 이육형 (부산대학교 기계기술연구소) ;
  • 박명관 (부산대학교 기계공학부 및 기계기술연구소)
  • Published : 2006.01.01
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Abstract

This paper deals with the application of enhanced perturbation estimation (SMCEPE) to sliding mode control of a dynamic system in the presence of perturbations including external disturbances, unpredictable parameter variations, and unstructured dynamics. Compared to conventional sliding mode control (SMC) and sliding mode control with perturbation estimation (SMCPE), the proposed one can offer robust control performances under serious control conditions, such as fast dynamic perturbations and slow loop-closure speeds, without a priori knowledge on upper bounds of perturbations. The perturbation estimator in SHCEPE also has more adaptability owing to the fractional-order hold technique. The effectiveness and superiority of the proposed control strategy are demonstrated by a series of simulations on the position tracking control of a two-link robot manipulator.

Keywords

References

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