Sliding-mode control of a nonlinear-input system: application to amagnetically levitated fast-tool servo
Gutierrez, H.M.; Ro, P.I.
Industrial Electronics, IEEE Transactions on
Volume 45, Issue 6, Dec 1998 Page(s):921 - 927
Digital Object Identifier 10.1109/41.735336
Summary:Magnetic servo levitation (MSL) is currently being investigated as
an alternative to drive fast-tool servo systems that could overcome the
range limitations inherent to piezoelectric driven devices while
operating over a wide bandwidth. To control such systems, a
feedback-linearized controller coupled with a Kalman filter has been
previously described. Performance limitations that degrade tracking
accuracy suggest the use of a more robust controller design approach,
such as sliding-mode control. Current literature on sliding mode deals
almost exclusively with systems that are affine on the input, while the
magnetic fast-tool servo is nonlinear on it when the control action is
current command. This paper discusses a sliding mode-based controller
that overcomes the aforementioned problem by defining a modified sliding
condition to calculate control action. Experimental results demonstrate
the feasibility of achieving long-range fast tracking with magnetically
levitated devices by using sliding-mode control
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