Control of 400 Watt Belt-Drive and 400 Watt Ball-Screw Servo Systems Using Discrete-Time Variable Structure Control

Bahn, Wook; Lee, Sanghoon; Lee, Sang-Sub; Cho, Dong‐il Dan

doi:10.3182/20140824-6-za-1003.02112

Cited by 3 publications

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“…A DSMC method combined with a decoupled disturbance compensator (DDC) has been developed to recover the loss of stability for SMC in discrete-time systems [24], [25]. It can be shown that the DDC has the same structure as the conventional DOB [26], and the DSMC with DOB methods have been successfully implemented in industrial applications [27]- [29]. However, these works assumed that the control inputs are unconstrained, and they lose stability when control saturation occurs.…”

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Effective Disturbance Compensation Method Under Control Saturation in Discrete-Time Sliding Mode Control

Han

Kim

et al. 2020

IEEE Trans. Ind. Electron.

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This article presents a novel method of dealing with disturbances and control saturation in the framework of discrete-time sliding mode control (DSMC). A DSMC with decoupled disturbance compensator (DDC) was developed for SMC to recover the loss of stability in the discrete-time domain. However, windup phenomena occur in both the switching function and the disturbance estimate when control saturation occurs, and the method cannot guarantee stability. The article develops a new method for maintaining stability under both disturbances and control saturation by incorporating a novel auxiliary state into the DSMC with DDC method. The auxiliary state prevents the windup phenomena, and the developed new method preserves the asymptotic convergence property of the disturbance estimation error dynamics and the stability of the sliding mode dynamics. Also, the error states are stable under bounded disturbances and control saturation. Simulations and experiments are performed on a commonly used industrial servo system to demonstrate the effectiveness of the proposed method. Index Terms-Discrete-time systems, sliding mode control (SMC), servosystems. I. INTRODUCTIONS LIDING mode control (SMC) is a special kind of variable structure control and is one of the most successful approaches in general control systems with bounded and matched disturbances. SMC drives the state variables to a predesigned sliding surface in a finite time and then keeps them on the sliding surface in the presence of the bounded disturbance. Therefore,

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