Sliding Mode Disturbance Observer-based Motion Control for a Piezoelectric Actuator-based Surgical Device

2017 ◽  
Vol 20 (3) ◽  
pp. 1194-1203 ◽  
Author(s):  
Jun Yik Lau ◽  
Wenyu Liang ◽  
Hwee Choo Liaw ◽  
Kok Kiong Tan
Keyword(s):  
Motion Control ◽  
Piezoelectric Actuator ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Sliding Mode Disturbance Observer ◽  
Surgical Device

scholarly journals Research of Compound Control for DC Motor System Based on Global Sliding Mode Disturbance Observer

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
He Zhang ◽  
Liang Ge ◽  
Mingjiang Shi ◽  
Qing Yang
Keyword(s):  
Control System ◽  
Disturbance Observer ◽  
Motor System ◽  
Sliding Mode ◽  
Dc Motor ◽  
Sliding Mode Disturbance Observer ◽  
Modeling Errors ◽  
Parameter Variations ◽  
Dc Motor Control ◽  
Motor Control System

Aiming at the problems of modeling errors, parameter variations, and load moment disturbances in DC motor control system, one global sliding mode disturbance observer (GSMDO) is proposed based on the global sliding mode (GSM) control theory. The output of GSMDO is used as the disturbance compensation in control system, which can improve the robust performance of DC motor control system. Based on the designed GSMDO in inner loop, one compound controller, composed of a feedback controller and a feedforward controller, is proposed in order to realize the position tracking of DC motor system. The gains of feedback controller are obtained by means of linear quadratic regulator (LQR) optimal control theory. Simulation results present that the proposed control scheme possesses better tracking properties and stronger robustness against modeling errors, parameter variations, and friction moment disturbances. Moreover, its structure is simple; therefore it is easy to be implemented in engineering.

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