Experimental investigation of a SMC high precision control

摘要

In this paper a discrete-time Sliding-Mode (SM) based controller for high accuracy position control is investigated. The controller is designed for a general SISO system with nonlinearity and external disturbance. It will be shown that application of the proposed controller forces the state trajectory to be within an O(Ts 2). The proposed controller is applied to a stage driven by a piezo drive that is known to suffer from nonlinearity. As a separate idea to enhance the accuracy of the closed loop system a combination of disturbance rejection method and the SMC controller is explored and its effectiveness is experimentally demonstrated. Closed-loop experiments are presented using PID controller with and without disturbance compensation and Sliding-Mode Controller with and without disturbance compensation for the purpose of comparison.