A Third-Order Sliding-Mode Controller for a Stepper Motor

This paper deals with the robust control problem of a stepper motor subject to parameter uncertainties and load torque perturbation. The developed algorithm is based on third-order sliding-mode control such that a desired angular motor position is accurately tracked. The proposed scheme requires the measurement or the estimation of the motor speed and acceleration for feedback. To avoid the use of tachometers and accelerometers which add cost and energy consumption, a robust second-order sliding-mode observer is presented. Experimental results illustrate the performance and the advantages of the proposed controller.

[1]  Arie Levant,et al.  Quasi-continuous high-order sliding-mode controllers , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[2]  Leonid M. Fridman,et al.  Cascade control of PM-DC drives via second-order sliding mode technique , 2008, 2008 International Workshop on Variable Structure Systems.

[3]  Aamer I. Bhatti,et al.  Estimation of Gasoline-Engine Parameters Using Higher Order Sliding Mode , 2008, IEEE Transactions on Industrial Electronics.

[4]  Vadim I. Utkin,et al.  Sliding mode control in electromechanical systems , 1999 .

[5]  Christopher Edwards,et al.  Sliding mode control : theory and applications , 1998 .

[6]  Yuri Orlov,et al.  Hybrid Sliding-Mode-Based Control of Underactuated Systems With Dry Friction , 2008, IEEE Transactions on Industrial Electronics.

[7]  Y. B. Shtessel,et al.  Comparison of a feedback linearization controller and sliding mode controllers for a permanent magnet stepper motor , 1996, Proceedings of 28th Southeastern Symposium on System Theory.

[8]  Hassan K. Khalil,et al.  Singular perturbation methods in control : analysis and design , 1986 .

[9]  Arie Levant,et al.  Universal single-input-single-output (SISO) sliding-mode controllers with finite-time convergence , 2001, IEEE Trans. Autom. Control..

[10]  Wilfrid Perruquetti,et al.  Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems , 2003, Autom..

[11]  John Chiasson,et al.  High performance nonlinear feedback control of a permanent magnet stepper motor , 1992, [Proceedings 1992] The First IEEE Conference on Control Applications.

[12]  M. Fliess,et al.  Flatness and defect of non-linear systems: introductory theory and examples , 1995 .

[13]  Giorgio Bartolini,et al.  A survey of applications of second-order sliding mode control to mechanical systems , 2003 .

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

[15]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[16]  A. Levant.  Universal SISO sliding-mode controllers with finite-time convergence , 2001 .

[17]  Franck Plestan,et al.  Higher order sliding mode control based on optimal approach of an electropneumatic actuator , 2006 .

[18]  Thierry Floquet,et al.  Second‐order sliding mode control of underactuated mechanical systems I: Local stabilization with application to an inverted pendulum , 2008 .

[19]  Riccardo Marino,et al.  Nonlinear adaptive control of permanent magnet step motors , 1995, Autom..

[20]  Hebertt Sira-Ramírez,et al.  A PASSIVITY PLUS FLATNESS CONTROLLER FOR THE PERMANENT MAGNET STEPPER MOTOR , 2000 .

[21]  Lorenzo Fagiano,et al.  Vehicle Yaw Control via Second-Order Sliding-Mode Technique , 2008, IEEE Transactions on Industrial Electronics.

[22]  Jean-Pierre Barbot,et al.  Sliding Mode Control In Engineering , 2002 .

[23]  John N. Chiasson,et al.  High-performance nonlinear feedback control of a permanent magnet stepper motor , 1993, IEEE Trans. Control. Syst. Technol..

[24]  V. Utkin,et al.  Integral sliding mode in systems operating under uncertainty conditions , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[25]  Franck Plestan,et al.  Higher order sliding mode control based on integral sliding mode , 2007, Autom..

[26]  S. V. Emel'yanov,et al.  Higher-order sliding modes in binary control systems , 1986 .

[27]  Wilfrid Perruquetti,et al.  Observer-based second order sliding mode control laws for stepper motors , 2008 .

[28]  John Chiasson,et al.  Position control of a PM stepper motor by exact linearization , 1991 .

[29]  Michael Defoort,et al.  Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots , 2008, IEEE Transactions on Industrial Electronics.

[30]  H. Sira-Ramírez,et al.  Static and dynamic sliding mode control schemes for a permanent magnet stepper motor , 2001 .

[31]  B. Bandyopadhyay,et al.  Multirate output feedback sliding mode control of permanent magnet stepper motor using flatness property , 2004, Proceedings of the 2004 IEEE International Conference on Control Applications, 2004..

[32]  Yuri B. Shtessel,et al.  Higher order sliding modes , 2008 .

[33]  Dennis S. Bernstein,et al.  Geometric homogeneity with applications to finite-time stability , 2005, Math. Control. Signals Syst..