Change search
ReferencesLink to record
Permanent link

Direct link
Model reference discrete-time sliding mode control of linear motor precision servo systems
KTH, Superseded Departments, Machine Design.
KTH, Superseded Departments, Machine Design.ORCID iD: 0000-0002-7550-3134
2004 (English)In: Mechatronics (Oxford), ISSN 0957-4158, Vol. 14, no 7, 835-851 p.Article in journal (Refereed) Published
Abstract [en]

This paper studies high-precision motion control of linear motor servo systems. A model reference discrete-time sliding mode control is constructed, which converts servo problems to simple regulator problems. Moreover, based on one-step delayed disturbance approximation, unknown disturbances, including friction, can be well compensated without using any complicated friction modelling and corresponding on-line identification techniques, hence the design of the controller is simple and satisfactory performance is easy to achieve. For tracking control, the overall tracking errors can be further reduced by introducing an extra integral action, although it is not possible to completely eliminate the friction effect in the case that reference trajectories cross zero velocity. Since friction is a complicated non-smooth disturbance, detailed investigation on the influence of choice of sampling period on friction compensation performance is performed through simulation analysis. Experimental results are presented to illustrate the effectiveness and achievable control performance of the proposed scheme.

Place, publisher, year, edition, pages
2004. Vol. 14, no 7, 835-851 p.
Keyword [en]
friction, compensation
National Category
Mechanical Engineering
URN: urn:nbn:se:kth:diva-23517DOI: 10.1016/j.mechatronics.2004.04.001ISI: 000222143400007ScopusID: 2-s2.0-2342626547OAI: diva2:342215
QC 20100525 QC 20110923Available from: 2010-08-10 Created: 2010-08-10 Last updated: 2011-09-23Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Li, YufengWikander, Jan
By organisation
Machine Design
In the same journal
Mechatronics (Oxford)
Mechanical Engineering

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 49 hits
ReferencesLink to record
Permanent link

Direct link