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https://doi.org/10.1016/S0957-4158(02)00062-4
Title: | On the sliding mode control for DC servo mechanisms in the presence of unmodeled dynamics | Authors: | Xu, J.-X. Lee, T.-H. Pan, Y.-J. |
Keywords: | Describing function Limit cycle Sliding mode control Smoothing control Unmodeled dynamics |
Issue Date: | Sep-2003 | Citation: | Xu, J.-X., Lee, T.-H., Pan, Y.-J. (2003-09). On the sliding mode control for DC servo mechanisms in the presence of unmodeled dynamics. Mechatronics 13 (7) : 755-770. ScholarBank@NUS Repository. https://doi.org/10.1016/S0957-4158(02)00062-4 | Abstract: | In this paper, via describing function techniques, sliding mode control of DC servo mechanisms is analyzed in the presence of unmodeled dynamics. We first show that, a conventional sliding mode controller with signum function will inevitably generate a limit cycle where a second or higher order unmodeled dynamics exists. A fractional interpolation based smoothing scheme is then proposed to eliminate the limit cycle, and maintain a reasonable tracking precision bound. In particular, a DC servo motor with unmodeled stator and sensor dynamics is taken into consideration. Both theoretical analysis and simulation results verify the effectiveness of the proposed new fractional interpolation control scheme. © 2002 Elsevier Science Ltd. All rights reserved. | Source Title: | Mechatronics | URI: | http://scholarbank.nus.edu.sg/handle/10635/56906 | ISSN: | 09574158 | DOI: | 10.1016/S0957-4158(02)00062-4 |
Appears in Collections: | Staff Publications |
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