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 language | English |
|---|---|
| Pages | 515-518 |
| Number of pages | 4 |
| Publication status | Published - 1992 Dec 1 |
| Event | Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA Duration: 1992 Jul 13 → 1992 Jul 15 |
Other
| Other | Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) |
|---|---|
| City | San Francisco, CA, USA |
| Period | 92/7/13 → 92/7/15 |
ASJC Scopus subject areas
- Engineering(all)