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Design of a motion control system should take into account (a) unconstrained motion performed without interaction with environment or any other system, and (b) constrained motion with system in contact with environment or other systems. Control in both cases can be formulated in terms of maintaining desired system configuration what makes essentially the same structure for common tasks: trajectory...
In this paper, a sliding-mode-based design framework for fully actuated mechanical multibody system is discussed. The framework is based on the possibility to represent complex motion as a collection of tasks and to find effective mapping of the system coordinates that allows decoupling task and constraint control so one is able to enforce concurrently, or in certain time succession, the task and...
Design of a motion control system should take into account (a) unconstrained motion performed without interaction with environment or other system, and (b) constrained motion with system in contact with environment or another system or has certain functional interaction with another system. Control in both cases can be formulated in terms of maintaining desired system configuration what makes essentially...
In this paper discrete sliding mode control (SMC) of Piezo actuator is demonstrated in order to achieve a very high accuracy in Nano-scale with the desired dynamics. In spite of the fast dynamics of the Piezo actuator the problem of chattering is eliminated with the SMC control structure. The Piezo actuator suffers from hysteresis loop which is the inherent property and it gives rise to the dominant...
In this paper a method for motion controller parameters adaptation in the framework of sliding mode control (SMC) system is presented. Design is based on minimization of a cost function selected to depend on the distance from sliding mode manifold thus providing that adaptive controller enforces sliding mode motion in a closed loop system. It has been proven that selected cost function guarantees...
In this paper a discrete-time sliding-mode based controller design for high accuracy motion control systems is presented. The controller is designed for a general SISO system with nonlinearity and external disturbance. Closed-loop behavior of the general system with the proposed control and Lyapunov stability is shown and the error of the closed loop system is proven to be within an o(T2). The proposed...
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