Implementation of a Sliding-Mode Controller With an Integral Function and Fuzzy Gain Value for the Electrical Drive With an Elastic Joint

Orowska-Kowalska, Teresa; Kaminski, Marcin; Szabat, K.

doi:10.1109/tie.2009.2030823

Cited by 89 publications

(26 citation statements)

References 31 publications

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“…A series of articles [25][26][27] presented by team of authors relates to the use of soft computing methods to control of two-mass drive. The paper [26] presents a modified sliding mode structure implemented for the speed control.…”

Section: Damping Of Torsional Vibrationsmentioning

confidence: 99%

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New approaches to selected problems of precise speed and position control of drives

Brock

Zawirski

2012

IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society

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The paper reviews the literature in the field of electric drives control, published in the years 2010 -2012. Attention is focused on three selected themes: torque and force ripple elimination for converter controlled drives, friction identification and compensation, damping of torsional vibrations. These problems are critically important, especially for servo drives used in robots and machine tools.

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Section: Damping Of Torsional Vibrationsmentioning

confidence: 99%

“…The paper [26] presents a modified sliding mode structure implemented for the speed control. The proposed control system is a combination of a sliding-mode controller and a linear controller.…”

Section: Damping Of Torsional Vibrationsmentioning

confidence: 99%

New approaches to selected problems of precise speed and position control of drives

Brock

Zawirski

2012

IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society

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“…Also, considerable research attention has been devoted to the theoretical research on SMC problems for different systems. For example, the concept of SMC has been widely employed for uncertain systems [2], [8], [23], stochastic systems [7], [15], [19] as well as fuzzy systems [12], [22]. It should be pointed out that most results mentioned above have been concerned with continuoustime systems.…”

Section: Introductionmentioning

confidence: 99%

Robust Sliding Mode Control for Discrete Stochastic Systems With Mixed Time Delays, Randomly Occurring Uncertainties, and Randomly Occurring Nonlinearities

Wang

Gao

et al. 2012

IEEE Trans. Ind. Electron.

346

182

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Abstract-This paper investigates the robust sliding mode control (SMC) problem for a class of uncertain nonlinear stochastic systems with mixed time-delays. Both the sector-like nonlinearities and the norm-bounded uncertainties enter into the system in randomly ways, and such randomly occurring uncertainties (ROUs) and randomly occurring nonlinearities (RONs) obey certain mutually uncorrelated Bernoulli distributed white noise sequences. The mixed time-delays consist of both the discrete and the distributed delays. The time-varying delays are allowed in state. By employing the idea of delay-fractioning and constructing a new Lyapunov-Krasovskii functional, sufficient conditions are established to ensure the stability of the system dynamics in the specified sliding surface by solving certain semidefinite programming problem. A full-state feedback SMC law is designed to guarantee the reaching condition. A simulation example is given to demonstrate the effectiveness of the proposed SMC scheme.

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“…Such a system represents a simplified model for many practical systems, such as a disk drive, an electric motor driving a low-stiffness load, or in high-speed maneuvers of mechanical arms and machine tools. Many control techniques were employed to tackle vibrations in a two-mass system, including model predictive control ([1]- [4]), Kalman filters ( [3], [5], [6]), full-order state observers [7], a sliding-mode structure combined with a linear controller [8], notch filters or bi-quad filters ([9]- [11]), and PID controllers [12]. In [13] the two-mass system was formulated in a framework of disturbance rejection control.…”

Section: Introductionmentioning

confidence: 99%

Control of a two-mass structure driven by a ball-screw stage

Chen

2013

2013 CACS International Automatic Control Conference (CACS)

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This paper investigates the control of a linear ball-screw stage driving a two-mass load. Due to the high speed-reduction ratio, the angular displacement of the driving motor is insensitive to the flexible oscillations. The bandwidth of the closed-loop system is thus constrained by the light damping of the flexible load. As a remedy, an accelerometer is installed on the flexible load. A lead compensator based on acceleration and angular displacement feedback is devised via root-locus analysis. Performance of the control system is illustrated with numerical simulations and confirmed by experimental results.

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Implementation of a Sliding-Mode Controller With an Integral Function and Fuzzy Gain Value for the Electrical Drive With an Elastic Joint

Cited by 89 publications

References 31 publications

New approaches to selected problems of precise speed and position control of drives

New approaches to selected problems of precise speed and position control of drives

Robust Sliding Mode Control for Discrete Stochastic Systems With Mixed Time Delays, Randomly Occurring Uncertainties, and Randomly Occurring Nonlinearities

Control of a two-mass structure driven by a ball-screw stage

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