A DESIGN METHOD OF SLIDING MODE CONTROLLER FOR SERVO-SYSTEMS SUBJECT TO ACTUATOR SATURATION
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- Yokoyama Makoto
- Department of Mechanical & Production Engineering, Niigata University
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- Tohta Yuzuru
- Graduate School of Science and Technology, Niigata University
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- Saitoh Kiyoshige
- Graduate School of Science and Technology, Niigata University
抄録
This paper deals with compensation for windup phenomena due to actuator saturation in sliding mode control systems with integral action. It is shown that the actuator saturation causes windup phenomena similar to integrator windup, which might take place in linear control systems with integral action, even if the linear component of the control input does not include any integral action. This means it is not sufficient just to apply the existing anti-windup methods for the linear controllers to the sliding mode controllers. In other words, the nonlinear component of the control input should be reconsidered. Therefore a simple modification for the switching function is presented in order to reduce the nonlinear component of the input during saturation. It is shown that this modification makes it possible to keep the plant state close to the ideal sliding mode. Simulation and experimental results show the effectiveness of the proposed method.
収録刊行物
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- The Proceedings of the International Conference on Motion and Vibration Control
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The Proceedings of the International Conference on Motion and Vibration Control 6.1 (0), 194-199, 2002
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282680864690816
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- NII論文ID
- 110002489959
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- ISSN
- 24242977
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可