Sliding Mode Controller for Sawyer Motors based on singular perturbation theory

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.