Cascade VSS in motion control systems

Asif Sabanovic, Kouhei Ohnishi, Nadira Sabanovic

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The motion control system design using the Variable Structure Systems (VSS) approach with deliberate introduction of sliding mode motion is discussed in this paper. The controller is designed to have a cascade structure, with inner sliding mode loop, to avoid the problem of a discrete time implementation of VSS with sliding modes. Following problems are discussed: selection of the switching functions; estimation of the switching function; design of cascade VSS with inner current loop and the influence of parameters uncertainties on the system motion. Proposed algorithms are verified by simulation and experiments. Both simulation and experimental results are presented.

Original languageEnglish
Title of host publicationProc 92 Jpn USA Symp Flexible Autom
PublisherPubl by ASME
Pages515-518
Number of pages4
Publication statusPublished - 1992
EventProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA
Duration: 1992 Jul 131992 Jul 15

Other

OtherProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2)
CitySan Francisco, CA, USA
Period92/7/1392/7/15

Fingerprint

Switching functions
Motion control
Control systems
Systems analysis
Controllers
Experiments
Uncertainty

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Sabanovic, A., Ohnishi, K., & Sabanovic, N. (1992). Cascade VSS in motion control systems. In Proc 92 Jpn USA Symp Flexible Autom (pp. 515-518). Publ by ASME.

Cascade VSS in motion control systems. / Sabanovic, Asif; Ohnishi, Kouhei; Sabanovic, Nadira.

Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME, 1992. p. 515-518.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sabanovic, A, Ohnishi, K & Sabanovic, N 1992, Cascade VSS in motion control systems. in Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME, pp. 515-518, Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2), San Francisco, CA, USA, 92/7/13.
Sabanovic A, Ohnishi K, Sabanovic N. Cascade VSS in motion control systems. In Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME. 1992. p. 515-518
Sabanovic, Asif ; Ohnishi, Kouhei ; Sabanovic, Nadira. / Cascade VSS in motion control systems. Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME, 1992. pp. 515-518
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