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A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering

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  • Chiu-Keng Lai

Abstract

Sliding mode control (SMC) is rapped for the chattering due to high gain control. However, high gain control causes the system robust. For developing a system with robustness of SMC, a servo motor motion controller combining the two-degree-of-freedom (2DOF) system and SMC is proposed. The discussed motion type is point-to-point control with the constraint of trapezoid velocity profile. SMC is designed to guide the motor motion to follow a predefined trail, and the inner 2DOF system is used to compensate the deterioration due to the adoption of load observer. The proposed hybrid system is realized on a PC-based motion controller, and the validness is verified by simulation and experimental results.

Suggested Citation

  • Chiu-Keng Lai, 2014. "A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-10, May.
    • Handle: RePEc:hin:jnlmpe:583280
    DOI: 10.1155/2014/583280
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