| Autor: |
Chavan, Ashitosh D., Mahapatro, Kaliprasad A., Suryawanshi, Prasheel V. |
| Zdroj: |
International Journal of Advanced Mechatronic Systems; 2016, Vol. 7 Issue: 2 p93-103, 11p |
| Abstrakt: |
This paper proposes a robust strategy for output tracking in industrial motion control using disturbance observer (DO). The control scheme uses a sliding mode control (SMC) augmented by the estimates of disturbances. The SMC proposed here compensates matched as well as mismatched disturbances. The DO is used to estimate the disturbances and their derivatives for improved performance. The practical stability of the overall system is assured. The robustness is analysed for practical disturbances like backlash and friction. The effectiveness of the proposed strategy is experimentally validated for trajectory tracking in the presence of matched and mismatched disturbance. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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