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Design and Application of a New Sliding Mode Controller with Disturbance Estimator

Park, Seung-Bok   (Department of Mechanical Engineering, Inha UniversityUU0001092  ); Ham, Joon-Ho   (Department of Mechanical Engineering, Inha UniversityUU0001092  ); Park, Jong-Sung   (Department of Mechanical Engineering, Inha UniversityUU0001092  );
  • 초록

    The conventional sliding mode control (SMC) technique requires a priori knowledge of the upperbounds of disturbances and/or modeling uncertainties to assure robustness. This, however, may not be easy to obtain in practical situation. This paper presents a new methodology, a sliding mode control with disturbance estimator (SMCDE), which offers a robust control performance without a priori knowledge about the disturbance. The proposed technique is featured by an average value of the imposed disturbance over a certain period. A nonlinear spring-mass-damper system and a two-link robot system are adopted as illustrative application examples. Control performances such as estimation error and tracking error are compared between the proposed methodology and conventional scheme.


  • 주제어

    Sliding Mode Control .   Disturbance Estimation .   Sampling Time .   Regulating Control .   Tracking Control.  

  • 참고문헌 (11)

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    4. Dorling, C. M. and Zinober, A. S. I., 'Two Approaches to Hyperplane Design in Multi-Variable Structure Control Systems,' International Journal of Control, Vol. 44, No. 1, pp. 65-82, 1986 
    5. Sciavicoo, L. and Bruno, S., 'Modeling and Control of Robot Manipulators,' The McGraw-Hill Company, New York, 1996 
    6. Choi, S. B. and Park, D. W., 'Moving Sliding Surfaces for Fast Tracking Control of Second-Order Dynamical Systems,' ASME journal of Dynamic Systems, Meaairement and Control, Vol. 116, No. 1, pp. 154-158, 1994 
    7. Young, K. K. D., Kokotovic, P. V. and Utkin, V. I., 'A singular perturbation Analysis of High Gain Feedback Systems,' IEEE Transactions on Automatic Control, Vol. 22, pp. 931-938, 1977 
    8. Kozek, M., Puchhammer, G.. and Jorgl, M. R, ' A MIMO Sliding Mode Control for a High Speed EMS MAGLEV-Vehicle Using Disturbance Estimation,' Proc. of the 1994 IEEE Int. Conf. On Robotics and Automation, pp. 587-592 
    9. Lu Y. S. and Chen J. S., 'Design of a Perturbation Estimator Using the Theory of Variable- Structure Systems and Its Application to Magnetics Levitation Systems,' IEEE Transactions on Industrial EIectronics, Vol. 42, No. 3, pp. 281-289, 1995 
    10. Elmali, H. and Olgac, N., 'Sliding Mode Control with Perturbation Estimation (SMCPE): A New Approach,' International Journal of Control, Vol. 56, No. 4, pp. 923-941, 1992 
    11. Choi, S. B. and Park, D. W., 'Fast Tracking Control via Moving Sliding Surfaces,' Transactions of the Korean Society of Mechanical Eneineers, Vol. 17, No. 3, pp. 624-634, 1993 

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