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, Almanya, 4 - 06 Ekim 2006, ss.1002-1007 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/cca.2006.285983
  • Basıldığı Şehir: Munich
  • Basıldığı Ülke: Almanya
  • Sayfa Sayıları: ss.1002-1007
  • Galatasaray Üniversitesi Adresli: Evet

Özet

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.