文章基本信息

标题：Frequency-Domain Design Method for Discrete-time Sliding Mode Control and Generalized Decoupled Disturbance Compensator with Industrial Servo Applications
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作者：Ji-Seok Han ; Tae-Il Kim ; Tae-Ho Oh 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：22
页码：96-101
DOI：10.1016/j.ifacol.2018.11.524
语种：English
出版社：Elsevier
摘要：AbstractA discrete-time sliding mode control (DSMC) with a decoupled disturbance compensator (DDC) is a nonlinear and robust control method, which is suitable for slowly-varying disturbances. To effectively compensate the disturbances, the gain of the DDC should be designed in a systematic way. This paper presents a frequency-domain design method of the DSMC with DDC in the presence of disturbance and time delay. In addition, a new generalized decoupled disturbance compensator (GDDC) is designed in the frequency domain, which improves the phase response as compared to the conventional DDC. Experimental results on an industrial servo system demonstrate the improved performance of the DSMC with GDDC method.
关键词：KeywordsServo systemssliding mode controlfrequency domaindisturbance rejection