Positioning Control between Pulses Using Sliding Mode Control

In this paper, we propose a method in which sliding mode control is used for improving position control. In industrial equipments, a pulse encoder is generally used for the determination of their positions, but the positions determined are unstable due to quantization errors that vary with the resolution of the encoder. It is known that this problem can be solved by employing an analog clamp method that uses two analog sinusoidal signals. However, the transmission capacity increases when the analog signals are transmitted serially.Therefore, we propose an analog clamp controller that can be used for determining a control condition on a sliding mode plane. Experiments confirm the effectiveness of the proposed method.