Optimal sliding-mode control scheme for the position tracking servo system

Systems having structural uncertainties or a known complicated structure are difficult to control. Modeling of the uncertainties or handling the deterministic complexity are typical problems frequently encountered in the field of systems and control engineering. The dynamic characteristics of such systems are usually very complex and highly nonlinear. A new design approach of an optimal sliding-mode variable structure controller with integral compensation is presented for the position tracking servo control system in this paper. The method for obtaining switching function, integral gain and control function is also given. It can achieve accurate servo tracking in the presence of the disturbance and the plant parameter variation. Simulation results show that the new control algorithm exhibits the better control performance than the classical control method, and the rapidness and robustness of the system are improved. Moreover, its realization is simple and convenient.

[1]  Jiang Jing.  Sliding-mode variable structure control for the position tracking servo system , 2006 .

[2]  John Y. Hung,et al.  Variable structure control: a survey , 1993, IEEE Trans. Ind. Electron..

[3]  Irmgard Flugge-Lotz,et al.  Discontinuous Automatic Control , 1953 .

[4]  Wang Cuihong,et al.  Variable Structure Control for Interval Systems , 2006, 2007 Chinese Control Conference.

[5]  Saudi Arabia,et al.  A Particle Swarm approach for the Design of Variable Structure Stabilizer for a Nonlinear Model of SMIB System , 2005 .

[6]  Guang-Chyan Hwang,et al.  A stability approach to fuzzy control design for nonlinear systems , 1992 .

[7]  F. Boudjema,et al.  Sliding mode-a new way to control series resonant converters , 1990, [Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society.

[8]  D. Grant Fisher,et al.  Continuous sliding mode control , 1992 .

[9]  Jian-Shiang Chen,et al.  A self-organizing fuzzy sliding-mode controller design for a class of nonlinear servo systems , 1994, IEEE Trans. Ind. Electron..

[10]  G. Ambrosino,et al.  Variable structure model reference adaptive control systems , 1984 .

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

[12]  Sergey K. Korovin,et al.  Variable-Structure Control Systems: Discrete and Digital , 1995 .

[13]  Weibing Gao,et al.  Variable structure control of nonlinear systems: a new approach , 1993, IEEE Trans. Ind. Electron..

[14]  Hugh F. Durrant-Whyte,et al.  Fuzzy moving sliding mode control with application to robotic manipulators , 1999, Autom..