Tracking control of DC motors via an improved chattering alleviation control

An improved version of the chattering alleviation control (CAC) augmented with boundary layers is proposed. It preserves all the features of CAC and exhibits three additional advantageous properties. First, the resultant control law is continuous instead of the discontinuous function proposed in CAC. Second, the chattering level is smaller than that of CAC. Third, the parameters in the boundary layer approach can be determined quantitatively via this algorithm. The resultant system via this nonlinear feedback control law is proved to be asymptotically stable, which is then applied to the tracking control of DC motors. Experimental results indicate that the high-speed tracking of the desired trajectory can be achieved. In addition, the applied armature voltage contains fewer higher frequency components as compared to other variable structure systems control. >

[1]  N. N. Bengiamin,et al.  Variable Structure Position Control , 1984 .

[2]  E. Ryan.  A variable structure approach to feedback regulation of uncertain dynamical systems , 1983 .

[3]  U. Itkis,et al.  Control systems of variable structure , 1976 .

[4]  K. D. Young,et al.  Design of variable structure model-following control systems , 1978 .

[5]  N. Bengiamin,et al.  Variable structure postition control , 1984, IEEE Control Systems Magazine.

[6]  V. Utkin.  Variable structure systems with sliding modes , 1977 .

[7]  Ümit Özgüner,et al.  A decentralized variable structure control algorithm for robotic manipulators , 1985, IEEE J. Robotics Autom..

[8]  Jean-Jacques E. Slotine,et al.  The Robust Control of Robot Manipulators , 1985 .

[9]  Fu-Juay Chang,et al.  Position control of DC motors via variable structure systems control: a chattering alleviation approach , 1990 .

[10]  Y. P. Chen,et al.  A new controller design for manipulators using the theory of variable structure systems , 1988 .

[11]  R. Decarlo,et al.  Variable structure control of nonlinear multivariable systems: a tutorial , 1988, Proc. IEEE.

[12]  J. J. Slotine,et al.  Tracking control of non-linear systems using sliding surfaces with application to robot manipulators , 1983, 1983 American Control Conference.

[13]  R. Decarlo,et al.  Control of a class of nonlinear systems by decentralized control , 1982 .

[14]  F. Chang,et al.  Adaptive chattering alleviation of variable structure systems control , 1990 .

[15]  S. Richter,et al.  Control of a class of nonlinear systems by decentralized control , 1981, 1981 20th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.