Time-Delay Sliding Mode Control for a Servo

[+] Author and Article Information
Jong Hyeon Park, You Moo Kim

School of Mechanical Engineering, Hanyang University, Seoul 133-791, Korea

J. Dyn. Sys., Meas., Control 121(1), 143-148 (Mar 01, 1999) (6 pages) doi:10.1115/1.2802434 History: Online December 03, 2007


In this paper, a new control algorithm called the time-delay sliding mode control (TDSMC), based on the time delay control (TDC) and the integral sliding mode control (SMC), is proposed and applied for controlling DC servos with a seal installed on their rotating axes. This algorithm adopts the robustness of sliding model control and improves the robustness of the TDC. The results of a series of experiments on a DC servo motor system with stick-slip friction show TDSMC is compatable with the TDC in the nominal performance, but is superior to the TDC and the PID control in the performance robustness. Settling time is used as a measure of the performance.

Copyright © 1999 by The American Society of Mechanical Engineers
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