A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering

Author

Lai, Chiu-Keng

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

Civil Engineering

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