Jh. Lee et al., CONTINUOUS VARIABLE-STRUCTURE CONTROLLER FOR BLDDSM POSITION CONTROL WITH PRESCRIBED TRACKING PERFORMANCE, IEEE transactions on industrial electronics, 41(5), 1994, pp. 483-491
The continuous, accurate, and robust sliding mode tracking controller
based on a disturbance observer for a brushless direct drive servo mot
or (BLDDSM) is presented. Although the conventional sliding mode contr
ol (SMC) or variable structure control (VSC) can give the desired trac
king performance, there exists an inevitable chattering problem in con
trol which is undesirable for a direct drive system. With the proposed
algorithm, not only are the chattering problems removed, but also the
prescribed tracking performance can be obtained by using the efficien
t compensation of the disturbance observer. The design of the sliding
mode tracking controller for the prescribed, accurate, and robust trac
king performance without the chattering problem is given based on the
results of the detailed stability analysis. The usefulness of the prop
osed algorithm is demonstrated through the computer simulation for a B
LDDSM under load variations.