Cascade VSS in motion control systems

Asif Sabanovic, Kouhei Ohnishi, Nadira Sabanovic

研究成果: Paper査読

抄録

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.

本文言語English
ページ515-518
ページ数4
出版ステータスPublished - 1992 12月 1
イベントProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA
継続期間: 1992 7月 131992 7月 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

ASJC Scopus subject areas

  • 工学(全般)

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