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TECHNICAL PAPERS

Robust Perfect Tracking Control With Discrete Sliding Mode Controller

[+] Author and Article Information
Jian Wang, Hendrik Van Brussel, Jan Swevers

Division PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B-3001 Heverlee, Belgium

J. Dyn. Sys., Meas., Control 125(1), 27-32 (Mar 10, 2003) (6 pages) doi:10.1115/1.1540994 History: Received April 01, 2001; Revised July 01, 2002; Online March 10, 2003
Copyright © 2003 by ASME
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References

Chen,  C. H., Van Brussel,  H., and Swevers,  J., 1995, “Extended Pole Placement Method With Noncausal Reference Model for Digital Servo-Control,” ASME J. Dyn. Syst., Meas., Control, 117, pp. 641–644.
Gross,  E., Tomizuka,  M., and Messner,  W., 1994, “Cancellation of Discrete Time Unstable Zeroes by Feedforward Control,” ASME J. Dyn. Syst., Meas., Control, 116, pp. 33–38.
Tomizuka,  M., 1987, “Zero Phase Error Tracking Algorithm for Digital Control,” ASME J. Dyn. Syst., Meas., Control, 109, pp. 65–68.
Torfs,  D., De Schutter,  J., and Swevers,  J., 1992, “Extended Bandwidth Zero Phase Error Tracking Control of Nonminimal Phase System,” ASME J. Dyn. Syst., Meas., Control, 114, pp. 347–351.
Utkin,  V., 1977, “Variable Structure Systems With Sliding Modes,” IEEE Trans. Autom. Control, AC-22(2), pp. 212–222.
Gao,  W. B., and Hung,  J. C., 1993, “Variable Structure Control Of Nonlinear System: A New Approach,” IEEE Trans. Ind. Electron., 40, pp. 45–55.
Hung,  J. Y., Gao,  W. B., and Hung,  J. C., 1993, “Variable Structure Control: A Survey,” IEEE Trans. Ind. Electron., 40, pp. 2–22.
Edwards, C., and Spurgeon, S., 1998, Sliding Mode Control: Theory and Applications, ISBN 0-7484-0601-8, Taylor and Francis, London.
Gao,  W. B., Wang,  Y. F., and Homaifa,  A., 1995, “Discrete-Time Variable Structure Control Systems,” IEEE Trans. Ind. Electron., 42, pp. 117–122.
Sarpturk,  S., Istefanopulos,  Y., and Kaynak,  O., 1987, “On the Stability of Discrete-Time Sliding Mode Control Systems,” IEEE Trans. Autom. Control, 32(10), pp. 930–932.
Bartoszewicz,  A., 1996, “Remarks on ‘Discrete-Time Variable Structure Control Systems,’” IEEE Trans. Ind. Electron., 43, pp. 235–238.
Milosavljevic,  C., 1985, “General Conditions for the Existence of a Quasi-Sliding Mode on the Switching Hyperplane in Discrete Variable Structure Systems,” Autom. Remote Control (Engl. Transl.), 46(3), pp. 307–314.
Van den Braembussche, P., 1998, Robust Motion Control of High-Performance Machine Tools with Linear Motors, ISBN 90-5682-121-0, PhD dissertation, K. U. Leuven, Belgium.

Figures

Grahic Jump Location
Tracking error of the robust feedforward/feedback controller (with moving mass of 29 kg)
Grahic Jump Location
Direct perfect tracking control
Grahic Jump Location
Tracking control with feedforward/feedback combination
Grahic Jump Location
Stage driven by linear synchronous motor
Grahic Jump Location
Tracking error of the robust feedforward/feedback controller (with moving mass of 12 kg)

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