Design and performance tuning of sliding-mode controller for high-speed and high-accuracy positioning systems in disturbance observer framework / Kim, Bong Keun in IEEE transactions on industrial electronics, Vol. 56 N° 10 (Octobre 2009)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3798 - 3809 Titre : Design and performance tuning of sliding-mode controller for high-speed and high-accuracy positioning systems in disturbance observer framework Type de document : texte imprimé Auteurs : Kim, Bong Keun, Auteur ; Chung, Wan Kyun, Auteur ; Ohba, Kohtaro, Auteur Article en page(s) : pp. 3798 - 3809 Note générale : Génie electrique Langues : Anglais (eng) Mots-clés : Disturbance observer (DOB) High-speed/high-accuracy positioning system Lyapunov redesign Performance tuning Robust internal-loop compensator (RIC) Sliding-mode control Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : The tuning method of controllers can be used for effectively determining the overall performance of positioning systems. In particular, this method is highly effective in the case of high-speed and high-accuracy positioning systems. In this paper, a sliding-mode controller that uses one of the well-known approaches of robust control methodology is designed for high-speed positioning systems that require a high-accuracy performance. A performance-tuning method based on a disturbance observer (DOB) structure is also proposed. First, a generalized disturbance attenuation framework named robust internal-loop compensator (RIC) is introduced, and a sliding-mode controller based on a Lyapunov redesign is analyzed in the RIC framework. Then, the DOB properties of the sliding-mode controller are presented, and it is shown that the performance of the closed-loop system with a sliding-mode controller can be tuned up by using the structural characteristics of the DOB. These results make the design of an enhanced sliding-mode controller possible. Finally, the proposed algorithm is experimentally verified and discussed with two positioning systems. Experimental results show the effectiveness and the robustness of the proposed scheme. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5191073 [article] Design and performance tuning of sliding-mode controller for high-speed and high-accuracy positioning systems in disturbance observer framework [texte imprimé] / Kim, Bong Keun, Auteur ; Chung, Wan Kyun, Auteur ; Ohba, Kohtaro, Auteur . - pp. 3798 - 3809. Génie electrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3798 - 3809 Mots-clés : Disturbance observer (DOB) High-speed/high-accuracy positioning system Lyapunov redesign Performance tuning Robust internal-loop compensator (RIC) Sliding-mode control Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : The tuning method of controllers can be used for effectively determining the overall performance of positioning systems. In particular, this method is highly effective in the case of high-speed and high-accuracy positioning systems. In this paper, a sliding-mode controller that uses one of the well-known approaches of robust control methodology is designed for high-speed positioning systems that require a high-accuracy performance. A performance-tuning method based on a disturbance observer (DOB) structure is also proposed. First, a generalized disturbance attenuation framework named robust internal-loop compensator (RIC) is introduced, and a sliding-mode controller based on a Lyapunov redesign is analyzed in the RIC framework. Then, the DOB properties of the sliding-mode controller are presented, and it is shown that the performance of the closed-loop system with a sliding-mode controller can be tuned up by using the structural characteristics of the DOB. These results make the design of an enhanced sliding-mode controller possible. Finally, the proposed algorithm is experimentally verified and discussed with two positioning systems. Experimental results show the effectiveness and the robustness of the proposed scheme. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5191073

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