INTEGRAL SLIDING MODE CONTROLLER OF A ROTATIONAL SERVODRIVE
1996 年 1996 巻 3 号 p. 145-150
詳細
1996 年 1996 巻 3 号 p. 145-150
In tracking or position control of an electropneumatic servodrive modelling errors like the leakage mass flow rates and the gravity torque or also the dry friction, constitute a serious constraint when designing a control law. We describe in this paper a robust control approach based upon a local change of coordinates and a nonlinear sliding mode control synthesis. An integral surface is used and this allows us to overcome the use of an accelerometer. Experimental tracking results are then related.
