Sliding-mode monitoring and control of linear drives

Abstract

In this paper, we consider the monitoring and control of linear drives subject to nonlinear uncertainties. First, we propose a residual generator based on sliding mode, which can be used to monitor the linear drive. When a fault occurs, the monitoring system will generate and transmit an alert signal to the controller. Second, we design a sliding-mode control system which can work in two modes: normal control and fault-tolerant control. Finally, the proposed method is tested in a real linear drive comprising a rotary dc motor using a screw rod to translate rotation into translation. © 2009 IEEE.