TOWARD THE DESIGN AND IMPLEMENTATION OF A GLOBAL SLIDING-MODE CONTROL SCHEME WITH INPUT CONSTRAINT
J. Y. Lin and J. S. Chen
Department of Power Mechanical Engineering National Tsing-Hua University Hsinchu, 30043 Taiwan(ROC)
A global sliding-mode control (GSMC) scheme with input constraint is presented in this article. The scheme offers a measure to weigh the contribution between GSMC and the nominal dynamics so that the chattering level and the maximal control effort can be reduced based on an on-line tuning of the weight on GSMC. A moving sliding function is adopted on the control design, the input can thus be confined within a predefined boundary during transient period, while a robust performance can be guaranteed in the steady state. The efficacy of this scheme is further validated via implementation on a linear variable reluctance motor (LVRM) servo system. Both simulation and experimental studies further demonstrate its feasibility and effectiveness.
Keywords: sliding-mode control, linear motor, servo control.
Session slot T-Tu-E14: Sliding Mode Motor Control/Area code 2a : Control Design

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