• 제어로봇시스템학회논문지
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• 제6권12호
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• pp.1053-1060
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• 2000

In this paper, a discrete-time variable structure control method using recursively defined switching function and a decoupled variable structure disturbance compensator is used to achieve high performance circular motion control of a CNC machining center. The discrete-time variable structure control with the decoupled disturbance compensator method developed in this paper uses a recursive switching function defined as the sum of the current tracking error vector and the previous value of the switching function multiplied by a positive constant less than one. This recursive switching function provides much improved performance compared to the method that uses a switching function defined only as a linear combination of the current tracking error. Enhancements in tracking performance are demonstrated in the circular motion control using a CNC milling machine.