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Sliding Mode Controller for Sawyer Motors based on singular perturbation theory

Title
Sliding Mode Controller for Sawyer Motors based on singular perturbation theory
Author
정정주
Keywords
Sliding mode control; Singular perturbation theory; Sawyer motors; Position feedback; Nonlinear control; Yaw regulation
Issue Date
2015-10
Publisher
IEEE
Citation
2015 15th International Conference on Control, Automation and Systems (ICCAS 2015) Oct. 13-16, 2015 in BEXCO, Busan, Korea . Page 556-561
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 subsystem, the current measurements are removed 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 subsystem, which become the inputs of reduced model corresponding to slow subsystem, is a function of the auxiliary inputs. We design the auxiliary inputs with SMC to stabilize the reduced model. Therefore, the output feedback position controller for Sawyer motors can be achieved by the proposed method. The effectiveness of proposed method is demonstrated by simulation results.
URI
http://ieeexplore.ieee.org/document/7364980/http://hdl.handle.net/20.500.11754/28227
ISBN
978-8-9932-1508-3
ISSN
2093-7121
DOI
10.1109/ICCAS.2015.7364980
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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