Robust chattering free sliding mode control of servo drives

International Journal of Electronics

Volumn 80, Issue 2, 1996, Pages 169-179

  Jezernik, Karel ^a  

^a UNIVERSITY OF MARIBOR   (Slovenia)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; DISCRETE TIME CONTROL SYSTEMS; ELECTRIC CURRENT CONTROL; ELECTRIC DRIVES; HYSTERESIS; LYAPUNOV METHODS; MOTION CONTROL; PULSE WIDTH MODULATION; ROBUSTNESS (CONTROL SYSTEMS); STATORS; TORQUE CONTROL;

SERVO DRIVES; SLIDING MODE CONTROL; STATOR CURRENTS; VARIABLE STRUCTURE SYSTEM;

SERVOMOTORS;

EID: 0030082581     PISSN: 00207217     EISSN: 13623060     Source Type: Journal    
DOI: 10.1080/002072196137372     Document Type: Article

References (10)

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2. Jezernik Kcurk, B., and Harnik, J., 1994b, Observer-based sliding mode control of a robotic manipulator. Robotica, 12, 443-448.
3. Jezernik, K., Volcanjk, V., Hren, A., and Premzl, B., 1993, Robust observer based VSS tracking control of an IM servodrive. Proceedings of the 5th European Conference on Power Electronics and Applications (EPE93), Brighton, U.K., September 1993, Vol. 4, pp. 428-433.
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7. Sabanovic, A., Jezernik, K., Sabanovic, N., and Wada, K., 1994, Chattering free sliding mode. VSLT '94: Proceedings of the Workshop on Robust Control via Variable Structure and Lyapunov Techniques, Benevento, Italy, September 1994, pp. 315-318.
8. Slotine, J. J., and Sastry, S. S., 1983, Tracking control of non-linear systems using sliding surfaces with applications to robot manipulators. International Journal of Control, 38, 465-492.
9. Utkin, V. I., 1993, Sliding mode control design and chattering problems. Electrotechnical Review, 60, 75-81.
10. Xu, J. X., Hashimoto, H., Slotine, J. J., Abai, Y., and Harashima, F., 1989, Implementation of VSS control to robotic manipulators-smoothing modifications. IEEE Transactions on Industrial Electronics, 36, 321-329.