Robust Optimal Sliding Mode Control with Application to Electrical Servo Drive
Integrating optimal Linear Quadratic Regulator (LQR) theory with Sliding Mode Control (SMC) theory, a new design method of global robust optimal sliding mode control for uncertain systems is proposed. First, an optimal robust integral sliding surface is constructed. The sliding motion can minimize a given quadratic performance index, and the reaching phase, which is inherent in conventional sliding mode control, is completely eliminated. The system dynamics is robust to uncertainties which satisfy the matching conditions. Then the synthesized sliding mode control law guarantees the reachability of the specified sliding surface. Finally, the proposed robust optimal SMC is applied to an electrical servo drive system. Simulation results show that the robust optimal SMC controllers have both optimal performance and robustness to parameter variations and external load disturbances, which are superior to optimal LQR controllers.
Haiping Pang Gongyou Tang
College of Information Science and Engineering Ocean University of China Qingdao, 266071, China;Coll College of Information Science and Engineering Ocean University of China Qingdao, 266071, China
国际会议
南宁
英文
2007-07-20（万方平台首次上网日期，不代表论文的发表时间）