Abstract
In high-precision motion systems, set-point tracking often comes with the problem
of overshoot, hence poor settling behavior. To avoid overshoot, PD control (thus without using
an integrator) is preferred over PID control. However, PD control gives rise to steady-state error
in view of the constant disturbances acting on the system. To deal with both overshoot and
steady-state error, a sliding mode controller with saturated integrator is studied. For large servo
signals the controller is switched to PD mode as to constrain the integrator buffer and therefore
the overshoot. For small servo signals the controller switches to PID mode as to avoid steadystate
error. The tuning of the switching parameters will be done automatically with the aim to
optimize the settling behavior. The sliding mode controller will be tested on a high-precision
motion system.
Original language | English |
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Title of host publication | 6th IFAC Symposium on Mechatronic Systems, 10-12 April 2013, Hangzhou, China |
Place of Publication | Oxford |
Publisher | Pergamon |
Pages | 13-19 |
Publication status | Published - 2013 |