抄録
A continuous time sliding mode controller for position synchronization of servo systems is proposed. Synchronization error is defined as the differential position error between the two drives that are controlled to follow the same reference motion trajectory. The proposed sliding mode control (SMC) penalizes 3 error states; namely, individual set point tracking errors of the drives and the synchronization error between them. Thus, individual trajectory tracking and at the same time motion coupling between the drives is introduced. The SMC control law is derived from Lyapunov energy function for asymptotic convergence of error states. The final control law is implemented using conventional Proportional, Integral and Derivative blocks in real time. Experiments are performed to verify the effectiveness of the proposed synchronization control.
