DISTURBANCE OBSERVER BASED APPROACH TO THE DESIGN OF SLIDING MODE CONTROLLER FOR HIGH PERFORMANCE POSITIONING SYSTEMS

Abstract Disturbance observer(DOB) based control is one of the most popular methods in the field of high performance position control. In this paper, a sliding mode controller is designed in the DOB framework. To do this, a generalized disturbance attenuation framework named robust internal-loop compensator (RIC) is introduced and it is shown that sliding mode controller based on Lyapunov redesign can be analyzed in the RIC framework. Using the structural characteristics of RIC, DOB property and performance of the sliding mode control system are analyzed. Through experiments using a high performance positioning system, the validity of the proposed method is shown.

[1]  Wan Kyun Chung,et al.  Performance predictable design of robust motion controllers for high-precision servo systems , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[2]  Il Hong Suh,et al.  Analysis and Design of Robust Motion Controllers in the Unified Framework , 2002 .

[3]  Wan Kyun Chung,et al.  Unified analysis and design of robust disturbance attenuation algorithms using inherent structural equivalence , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[4]  M. Tomizuka,et al.  High performance robust motion control of machine tools: an adaptive robust control approach and comparative experiments , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).