A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering
作者： Chiu-Keng Lai
DOI: 10.1155/2014/583280
关键词:
摘要: Sliding mode control (SMC) is rapped for the chattering due to high gain control. However, causes system robust. For developing a with robustness of SMC, servo motor motion controller combining two-degree-of-freedom (2DOF) and SMC proposed. The discussed type point-to-point constraint trapezoid velocity profile. designed guide follow predefined trail, inner 2DOF used compensate deterioration adoption load observer. proposed hybrid realized on PC-based controller, validness verified by simulation experimental results.
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core.ac.uk参考文章(16)
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