A model-following positioning control system based on modified sliding mode control

作者：Shibasaki Hiroki^*; Ono Osamu; Ishida Yoshihisa

来源：Proceedings of the Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering, 2016, 230(8): 749-758.

DOI：10.1177/0959651816653038

• Model-following control
• robust gain matrix
• sliding mode control
• DC motor

This study presents a model-following positioning control system based on modified sliding mode control. In the proposed method, a robust gain matrix prevents the dependence on the plant parameters by applying the switching function to an error dynamics equation. Simulation studies are applied to a nominal plant with stable and unstable terms, and a plant with a modeling error and an input-side disturbance. Simulation and experimental results indicate the effectiveness of this method in determining a robust gain matrix. The proposed method further demonstrates positioning control with superior performance.

• 出版日期2016-9