Evaluation of error bound for a DT sliding mode control with disturbance observer

Erdem, Emine Yegan and Şabanoviç, Asif and Abidi, Khalid Seyed (2006) Evaluation of error bound for a DT sliding mode control with disturbance observer. In: IEEE Workshop on Advanced Motion Control Systems,

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Abstract

In this paper an estimate of the upper bound of control error for discrete-time implementation of a Sliding Mode Control (DTSMC) combined with disturbance observer is investigated. Having in mind application to PZT high bandwidth actuators and since high accuracy is required the special attention is paid to avoid chattering. Selected structure of proposed SMC controller is proven to offer chattering-free motion. The proposed structure also avoids deadbeat poles that are the cause of large control action which is not desirable in practical applications. The proposed scheme is shown to allow a maximum error bound of O(T) for the system with disturbance. The main disturbances are represented by hysteresis and the time variation of the piezo stack parameters. The evaluation of the upper bound of error in such a system is shown and experimentally verified. Closed-loop experiments are presented using the proposed method to verify the theoretical results.
Item Type: Papers in Conference Proceedings
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Emine Yegan Erdem
Date Deposited: 08 Feb 2007 02:00
Last Modified: 26 Apr 2022 08:31
URI: https://research.sabanciuniv.edu/id/eprint/1134

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