A novel sliding mode assist disturbance observer

Dapeng Tian, Daisuke Yashiro, Kouhei Ohnishi

研究成果: Conference contribution

4 引用 (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.

元の言語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
出版物ステータスPublished - 2011
イベント2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey
継続期間: 2011 4 132011 4 15

Other

Other2011 IEEE International Conference on Mechatronics, ICM 2011
Turkey
Istanbul
期間11/4/1311/4/15

Fingerprint

Sliding mode control
Motion control
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

これを引用

Tian, D., Yashiro, D., & Ohnishi, K. (2011). A novel sliding mode assist disturbance observer. : 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings (pp. 943-948). [5971252] https://doi.org/10.1109/ICMECH.2011.5971252

A novel sliding mode assist disturbance observer. / Tian, Dapeng; Yashiro, Daisuke; Ohnishi, Kouhei.

2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings. 2011. p. 943-948 5971252.

研究成果: Conference contribution

Tian, D, Yashiro, D & Ohnishi, K 2011, A novel sliding mode assist disturbance observer. : 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings., 5971252, pp. 943-948, 2011 IEEE International Conference on Mechatronics, ICM 2011, Istanbul, Turkey, 11/4/13. https://doi.org/10.1109/ICMECH.2011.5971252
Tian D, Yashiro D, Ohnishi K. A novel sliding mode assist disturbance observer. : 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings. 2011. p. 943-948. 5971252 https://doi.org/10.1109/ICMECH.2011.5971252
Tian, Dapeng ; Yashiro, Daisuke ; Ohnishi, Kouhei. / A novel sliding mode assist disturbance observer. 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings. 2011. pp. 943-948
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