Design and Performance Tuning of Sliding-Mode Controller for High-Speed and High-Accuracy Positioning Systems in Disturbance Observer Framework
SCIE
SCOPUS
- Title
- Design and Performance Tuning of Sliding-Mode Controller for High-Speed and High-Accuracy Positioning Systems in Disturbance Observer Framework
- Authors
- Bong Keun Kim; Chung, WK; Kohtaro Ohba
- Date Issued
- 2009-10
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- 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.
- Keywords
- Disturbance observer (DOB); high-speed/high-accuracy positioning system; Lyapunov redesign; performance tuning; robust internal-loop compensator (RIC); sliding-mode control; 2-DEGREE-OF-FREEDOM CONTROL; MOTION CONTROL; FRICTION
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/26331
- DOI
- 10.1109/TIE.2009.2028357
- ISSN
- 0278-0046
- Article Type
- Article
- Citation
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, vol. 56, no. 10, page. 3798 - 3809, 2009-10
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