Paper Info
Title
Design And Performance Tuning Of Sliding-Mode Controller For High-Speed And High-Accuracy Positioning Systems In Disturbance Observer Framework
Abstract
The tuning method of controllers can be used for effectively determining the overall performance of positioning systems. In particular, this method is highly effective in the case of high-speed and high-accuracy positioning systems. In this paper, a sliding-mode controller that uses one of the well-known approaches of robust control methodology is designed for high-speed positioning systems that require a high-accuracy performance. A performance-tuning method based on a disturbance observer (DOB) structure is also proposed. First, a generalized disturbance attenuation framework named robust internal-loop compensator (RIC) is introduced, and a sliding-mode controller based on a Lyapunov redesign is analyzed in the RIC framework. Then, the DOB properties of the sliding-mode controller are presented, and it is shown that the performance of the closed-loop system with a sliding-mode controller can be tuned up by using the structural characteristics of the DOB. These results make the design of an enhanced sliding-mode controller possible. Finally, the proposed algorithm is experimentally verified and discussed with two positioning systems. Experimental results show the effectiveness and the robustness of the proposed scheme.
Year
DOI
Venue
2009
10.1109/TIE.2009.2028357
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Keywords
Field
DocType
Disturbance observer (DOB), high-speed/high-accuracy positioning system, Lyapunov redesign, performance tuning, robust internal-loop compensator (RIC), sliding-mode control
Control theory,Motion control,Control theory,Control engineering,Robustness (computer science),Lyapunov redesign,Adaptive control,Engineering,Robust control,Open-loop controller,Sliding mode control
Journal
Volume
Issue
ISSN
56
10
0278-0046
Citations 
PageRank 
References 
18
1.51
10
Authors
3
Name
Order
Citations
PageRank
Bong Keun Kim18615.31
Wan Kyun Chung2855127.85
kohtaro ohba331766.11