Sliding Mode Controller for Sawyer Motors based on singular perturbation theory
- Title
- Sliding Mode Controller for Sawyer Motors based on singular perturbation theory
- Author
- 길정환
- Alternative Author(s)
- Gil, Jeonghwan
- Advisor(s)
- 정정주
- Issue Date
- 2016-08
- Publisher
- 한양대학교
- Degree
- Master
- Abstract
- In this paper, we propose a sliding mode controller (SMC) based on singular
perturbation theory for Sawyer motors. Since the dynamics of Sawyer motors
can be divided into slow and fast subsystems, the current measurements
are unnecessary by using singular perturbation theory and passivity of the
dynamics of Sawyer motors. Input voltages including auxiliary inputs for slow
subsystem are designed to stabilize the fast dynamics. The quasi-steady states
of fast subsystems, which become the inputs of reduced model corresponding
to slow subsystem, are a function of the auxiliary inputs. The auxiliary inputs
with SMC are designed to stabilize the reduced model. Thus, the output
feedback position controller for Sawyer motors can be accomplished with the
proposed method. The eectiveness of proposed method is demonstrated by
simulation results.
- URI
- https://repository.hanyang.ac.kr/handle/20.500.11754/125534http://hanyang.dcollection.net/common/orgView/200000486507
- Appears in Collections:
- GRADUATE SCHOOL[S](대학원) > ELECTRICAL ENGINEERING(전기공학과) > Theses (Master)
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