Disturbance/Uncertainty Estimator Based Integral Sliding-Mode Control


Kurkcu B., KASNAKOĞLU C., EFE M. Ö.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, cilt.63, ss.3940-3947, 2018 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 63 Konu: 11
  • Basım Tarihi: 2018
  • Doi Numarası: 10.1109/tac.2018.2808440
  • Dergi Adı: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
  • Sayfa Sayıları: ss.3940-3947

Özet

A disturbance/uncertainty estimator based integral sliding-mode control approach is introduced. Explicit mathematical expressions for robust stability, performance, and bandwidth requirement are derived. The integral sliding-mode controller is built to satisfy certain industrial criteria. It is integrated into the robustness analysis via its quasi-linear representation. The proposed methodology is experimentally verified on a high-precision gimbal control application. It is seen that the estimator works well and significantly improves performance and robustness in the presence of disturbances and uncertainties.