A novel sliding mode assist disturbance observer

Dapeng Tian, Daisuke Yashiro, Kouhei Ohnishi

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

This paper focuses on the problem of disturbance compensation in motion control. Disturbance observer (DOB) and sliding mode control (SMC) are both famous approaches to solve the problem. However, the DOB does not deal with nonlinear disturbance sufficiently. The SMC has chattering phenomenon which limits its application. In this paper, the idea of sliding mode assist disturbance observer (SMADO) is proposed, which avoids the shortness and associates the advantages of both SMC and DOB. In the proposal, the DOB helps the SMC to decrease the switching gain, which weakens the chattering. On the other hand, the SMC assists the DOB in compensating nonlinear disturbance. Based on the basic design, some improvements are also given. To weaken the chattering further, the smooth design is implemented. Moreover, to further systematize the idea of SMADO, the systematical adjustment method of the switching gain is investigated for the basic and smooth SMADO, respectively. The designs are proved by Lyapunov-based method. The validity of the proposals is confirmed by experiments.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
ページ943-948
ページ数6
DOI
出版ステータスPublished - 2011 9 2
イベント2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey
継続期間: 2011 4 132011 4 15

出版物シリーズ

名前2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

Other

Other2011 IEEE International Conference on Mechatronics, ICM 2011
国/地域Turkey
CityIstanbul
Period11/4/1311/4/15

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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