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DISTURBANCE OBSERVER BASED APPROACH TO THE DESIGN OF SLIDING MODE CONTROLLER FOR HIGH PERFORMANCE POSITIONING SYSTEMS
Bong Keun Kim*, Wan Kyun Chung*, Sang Rok Oh**
* Pohang University of Science and Technology (POSTECH), Korea
** Korea Institute of Science and Technology (KIST), Korea
Disturbance observer(DOB) based control is one of the most popular methods in the field of high performance position control. In this paper, a sliding mode controller is designed in the DOB framework. To do this, a generalized disturbance attenuation framework named robust internal-loop compensator(RIC) is introduced and it is shown that sliding mode controller based on Lyapunov redesign can be analyzed in the RIC framework. Using the structural characteristics of RIC, DOB property and performance of the sliding mode control system are analyzed. Through experiments using a high performance positioning system, the validity of the proposed method is shown.
Keywords: Disturbance observer, Robust internal-loop compensator, Sliding model control
Session slot T-Tu-A14: Sliding Mode Control Design/Area code 2a : Control Design
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