Sliding mode servomechanism design

ACARMAN T., Özgüner Ü.

Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC), Munich, Germany, 4 - 06 October 2006, pp.1002-1007, (Full Text) identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/cca.2006.285983
  • City: Munich
  • Country: Germany
  • Page Numbers: pp.1002-1007
  • Galatasaray University Affiliated: Yes

Abstract

In this paper, a frequency-shaped optimal sliding mode approach combined with Lyapunov based backstepping design is presented to solve the robust servomechanism problem. The parametric uncertainties, unmodeled dynamics and uncertain exogenous disturbance belonging to a specified class are attenuated by using compensator dynamics introduced in sliding mode through an augmented dynamic sliding surface. © 2006 IEEE.