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Improved Discrete-Time Sliding-Mode Position Control Using Euler Velocity Estimation

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3 Author(s)
Boban Veselic ; Faculty of Electronic Engineering, University of Niš, Niš, Serbia ; Branislava Perunicic-Drazenovic ; Čedomir Milosavljevic

This paper presents a design of digitally controlled positional systems with Euler velocity estimation within the framework of the discrete-time sliding mode (DSM). The effects of quantization and simple velocity estimation on DSM quality are analyzed. It is shown that the introduced and amplified quantization noise degrades sliding motion into the quasi-sliding mode and threatens to provoke chattering. Furthermore, a new DSM control algorithm is proposed, featuring a two-scale reaching law and a supplemental integral action. This algorithm avoids chattering and provides excellent performance. The developed DSM controller has been experimentally tested in an induction motor position control.

Published in:

IEEE Transactions on Industrial Electronics  (Volume:57 ,  Issue: 11 )