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A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering
Author
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-05-19
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
Sliding mode control (SMC) is rapped for the chattering due to high gain control.
However, high gain control causes the system robust.
For developing a system with robustness of SMC, a servo motor motion controller combining the two-degree-of-freedom (2DOF) system and SMC is proposed.
The discussed motion type is point-to-point control with the constraint of trapezoid velocity profile.
SMC is designed to guide the motor motion to follow a predefined trail, and the inner 2DOF system is used to compensate the deterioration due to the adoption of load observer.
The proposed hybrid system is realized on a PC-based motion controller, and the validness is verified by simulation and experimental results.
American Psychological Association (APA)
Lai, Chiu-Keng. 2014. A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-482671
Modern Language Association (MLA)
Lai, Chiu-Keng. A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering. Mathematical Problems in Engineering No. 2014 (2014), pp.1-10.
https://search.emarefa.net/detail/BIM-482671
American Medical Association (AMA)
Lai, Chiu-Keng. A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-482671
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-482671