Abstract
This paper presents a design method of sliding mode controllers in consideration of actuator saturation for power assist systems. It is shown that the actuator saturation may cause windup phenomena in general servo systems based on a sliding mode control theory referred to as integral sliding mode control proposed by Utkin. In order to overcome this problem, a variable power amplification rate is introduced to the power assist control systems and designed as a smooth function of the control input such that the actuator stays properly within its limit. Numerical simulation results show the effectiveness of the proposed method.
