The main contribution of this paper is to examine, via experimental investigations of a
Type 2 servomechanism, the engineering feasibility of a sliding mode based control design,
in which a discontinuous estimator is used in feedback compensation of uncertainties and
exogenous disturbances. Experimental results of a transputer controlled single-degree-of-
freedom motion control system are presented. The experimental system consists of a
conventional DC servo gear motor with encoder feedback and variable inertia load coupled
by a relatively rigid shaft

HASHIMOTO, Hideki

KORONDI, Péter

YOUNG, K-K. David

English

Periodica Polytechnica (Budapest University of Technology and Economics)

PERIODICA POLYTECHlofICA SER. EL. E1'ofG. VOL. 41, NO. 1, PP. 3-14 (1997) SLIDING MODE BASED FEEDBACK COMPENSATION FOR MOTION CONTROL Peter KOROl'<DI*, K-K. David YOUNG** and Hideki HASHIMOTO*** * Department of Automation Technical University of Budapest H-llll Budapest XI. Budafoki ut 8, Hungary Tel.: + 36 1 463 1165 Fax:+ 36 1 463 3163 E-mail:korondi@elektro.get.bme.huorkorondi@vss.iis.u-tokyo.ac.jp ** Lawrence Livermore National Laboratory U niversi ty of California Livermore, California 94550 U.S.A. E-mail: kkdyoung@llnl.govoryoung@vss.iis.u-tokyo.ac.jp *** Institute of Industrial Science University of Tokyo 7-22-1, Roppongi, Minato-ku Tokyo 106 Japan Tel.: + 81 3 347 92766 Fax:+ 81 3 3423 1484 E-mail: hashimoto@vss.iis.u-tokyo.ac.jp Received: November 1, 1996 Abstract The main contribution of this paper is to examine, via experimental investigations of a Type 2 servomechanism, the engineering feasibility of a sliding mode based control design, in which a discontinuous estimator is used in feedback compensation of uncertainties and exogenous disturbances. Experimental results of a transputer controlled single-degree-of-freedom motion control system are presented. The experimental system consists of a conventional DC servo gear motor with encoder feedback and variable inertia load coupled by a relatively rigid shaft. Keywords: sliding mode, feedback compensation. disturbance observer. 1. Introduction Sliding mode has been introduced in the late 1970's [1] as a control design approach for the control of robotic manipulator. The main utility of slid-ing mode in this control design problem is to decouple the normally highly coupled nonlinear dynamics, and to desensitize the robot's tracking perfor-mance to payload variations, unknown system parameters, and externally applied forces. In the early 1980's, sliding mode was further introduced for the control of induction motor drives [2]. Its utility in this hybrid dis-cipline, consisting of power electronics and motion control, is to provide direct switching strategy [3] to the power electronics devices such that, in 4 P. KORONDI et al. spite of the nonlinear dynamics of the induction motor, the control design is decomposed into a nonlinear control synthesis problem, and a linear con-trol design problem of reduced order. These two early applications of slid-ing mode indicated the versatility of the underlying control theoretic prin-ciples in the design of feedback control systems for motion control, regard-less of the origin or the nature of the particular system performance spec-ifications and design goals. These initial works were followed by a large number of research pa-pers in robotic manipulator control and in motor drive control. References can be found in [4]. In some of these works, experimental results were ob-tained [5], [6]. However, despite of the theoretical predictions of superb closed loop system performance of sliding mode, some of the experimental works indicated that sliding mode in practice has limitations due to the need of high sampling frequency to reduce the high frequency oscillation phenomenon about the sliding mode manifold - collectively referred to as 'chattering'. In most of the experimental works involving sliding mode, the efforts spent on understanding the theoretical basis of sliding mode con-trol are generally minimized, while a great deal of energy were invested in empirical techniques to reduce chattering. Among these experimental works, a few succeeded to show closed loop system behaviour which were predicted by theory. Those who failed to manage the experimental designs successfully concluded that chattering is a major problem .in realizing slid-ing mode control in practice. On the theoretical front, the 1980's saw a continued growth of R&D in new extensions of the original theory. The connection of sliding mode control to model reference adaptive control introduced some excitement in the research community. In addition, the design of sliding mode observers [7], [8], [9] provided additional capabilities to a sliding mode based feedback control loop. Experimental results for sliding mode observer were obtained for robotic manipulator control recently [10]. Finally, the issue of discrete-time sliding mode was raised from the theoretical perspective, resulting in a number of different definitions of discrete-time sliding mode [12], [11]. A comparison of classical and discrete-time sliding mode control, via experi-mental investigations of a single-degree-of-freedom motion control system can be found in [13]. 2. Sliding Mode Based Feedback Compensation The system with external disturbances and uncertain parameters satisfying the so-called DRAZE.\OVIC condition [16] is written in the regular form, SLIDING MODE BASED FEEDBACK COMPENSATION 5 where Xl E Rn-m, X2 E Rm, u E R m, Aij , i, j 1,2, and fh denote the nominal or desired (ideal) system matrices, 6.A2j, j = 1,2 and 6.B2 are the respective uncertain perturbations, and f(t) is an unknown, but bounded disturbance with bounded first time derivative with respect to time. According to [14] [15], we design a sliding mode estimator (2) using a discontinuous feedback control v to reach a desired manifold, (3) The condition for existence of sliding mode is (TiCri < 0 , (4) where (Ti is the i-th element of vector (T. The simplest control law which can lead to sliding mode is the relay Vi = Misign((Ti) (5) If sliding mode exists ((T = 0 and Cr = 0) then there is a continuous control, so-called equivalent control, Ve(j) which can hold the system on the sliding manifold, (but it does not guarantee the convergence to the switching man-ifold in general). The primary goal of this design is to obtain the equivalent control of v for the motion on this manifold. If the system in sliding mode Cr = 6.A21xl + .6.A22x2 + 6.B2u + E2f - fhVeq = 0 ; (6) IhVeq = .6.A21xl + .6.A22x2 + 6.B2u + E2f . (7) Clearly, Veq contains information on the system's parametric uncertainties and the external disturbance which can be used for feedback compensation. In the practice, there is no way to calculate the equivalent control Veq precisely, but it can be estimated. The system response with the control / U = U + Veq (8) coincides with the nominal or ideal, undisturbed system response for the control u, as showed in Fig. 1. 6 P. KORONDI et al. Fig. 1. Sliding mode based feedback compensation Variable Inertia DCServo Motor Fig. 2. System configuration 3. Experimental System 3.1 Configuration The experimental system consists of a conventional DC servo gear motor with encoder feedback and variable inertia load coupled by a relatively SLIDING 1,fODE BASED FEEDBACK COMPENSATION 7 Cl timo Fig. 3. Discrete-time chattering phenomenon rigid shaft as shown in Fig. 2. The parameters of the motor and load are given in Table 1. The controller is implemented using a transputer as the computation engine. The DC motor is supplied by a DC chopper whose switching frequency was more than ten times bigger than the controller sampling frequency. Tsampiing = 640 J.Ls, T choppel' = 50 J.LS 3.2 System Equation In course of control design, a reduced order model is ul'led, the armature inductance and the flexibility of the shaft are ignored. The state variables are the shaft position, 0, and the shaft angular velocity, w. The effect of massd is considered as disturbance. The nominal model is the following x = Ax + Bu, (9) where the control u is the motor voltage and x = [e wf , (10) 1 (ll) (12) 4. Type 2 Servo Servo Design with Disturbance Compensation The control with disturbance compensation is given by t u' = -kI J (01'(T) - O(T))dT --. ke O - k;,.;w (13) o J compensation u: PID control 8 P. KORONDJ et al. Table 1 Nominal parameters Motor and Gear Parameters torque Tn 5.2 [Nm] output power Poutn 18.5 [W] angular speed Wn 3.6 [r/s] gear ratio 1/ 88 torque constant Ii"tn 5.07 [Nm/A] back e.m.f voltage Ken 5.06 [V /r/s] constant armature resistance Ran 2.7 [!1] armature inductance Lan 1.1 [mR] inertia of the motor transformed to J mn 0.07 [kgm 2] the load side gear damping Dn 2 [Nms] shaft stiffness Ksn 10000 [Nm/r] Load Parameters inertia of the Jln 0.06 [kgm 2] cylindrical mas load damping Dn 0.001 [Nms] diameter 20 [cm] length 15 [cm] Disturbance Parameters massd mdn 1 [kg] arm length [an 40 [cm] where iieg is an approximation of the equivalent control Veg and er is the reference position. , The estimator is constructed in the following way ~ = kww + ku(u + v) (14) where v undergoes discontinuities the desired manifold is written in the following form CTw = w - W = 0 . (15) The simplest control law which might lead to sliding mode is the relay (16) In case of relay control law, the condition for existence of sliding mode is (17) SLIDING MODE BASED FEEDBACK C01,fPENSATJON 9 u· D/A conversion 1--------' Fig. 4. The overall controller scheme According to the equivalent control method, the system in sliding mode behaves as if v is replaced by its equivalent value Veq. As it is known, lIeq can be considered as the average value of the high frequency switched 11, consequently, an approximation of the equivalent control lIeq is obtained from the discontinuous control 11 by low pass filtering in the following way T 3 ,(3) 3T2,(2) 3T. ,(1) , c lIeq + c lIeq + cVeq + lIeq = 11 , (18) where (i) denotes ith derivate with respect to time. 4.1 Discrete- Time Implementation The robustness of continuous-time sliding mode control is obtained by high-frequency switching of high-gain control inputs. To adapt the sliding-mode philosophy for a digital controller, the sampling frequency should be in-creased compared to other types of control method. If lIeq is small but lIeq "# 0 then (J" might chatter around the manifold (J" = 0 as shown in Fig. 3, where Tk denotes the time of kth sampling. In case of relay control, (16), the control switches from +11 to -11 and vice versa resulting iieq = O. The role of the discontinuous term in the control law is to hide the effect of the uncertain perturbations and bounded disturbance. The more knowledge in the control law is implied, the smaller discontinuous term is necessary. Since lIeq is continuous, only the change of lIeq during the sampling period should be covered by the discontinuous term. The chattering can be reduced by the following discrete-time control law: k ,k-1 k . (k) v = Veq + ,,"SIgn (J" '" , (19) where the superscript k refers to the kth sampling period. The overall controller scheme is shown in Fig. 4. 10 ¥ jO. Without asturbanee coft'l)ensation P. [{GRGND! et 01. Disturbance corr.pensatioo with control law (16) lo.s ....... /J.; ...............•................. ; ............. ; .............. , •.............. j ¥ io.s 1 "QO. ! ! ]0. ~ o. ¥ jo.a. 10.6 . ! ~O.4 ~ ] 1 ~ ~o. ." 50.41 . ~ o. 0.5 Oistulbance corrpensation with control law (19) 2.5 Fig. 5. Ideal and act ual positions Fig. 6. Ideal and actual angular yelocities 1.5 T1ITI&lsJ 2.5 SLIDING MODE BASED FEEDB.4CK COMPENSATION Wrthout disturt:lanoe c:ompensation a51r---~--'---~--~--~--~ Oisturt>an<:e """""nsation with coruollaw (19) a5r---__ --~--__ --~--~--_, 0.5IJ-···········.i .............. _L ........... i..._ ......... L ........... " o>f··-···-··-~··············,··············-·,···············;·······-···-~I Fig. 7. Ideal and actual phase-trajectories >" 2 8" ~ 1.5·· ;, ~ 1,·· "0 I ~ o.J ~ i W 0' as Fig. 8. Estimated disturbance a. Control law (19) b. Control law (16) 5. Simulation and Experimental Results In all cases, the control parameters are set as follows kI = 500 [V/rs] , ke 150 [Vir] , kw = 15 [Vs/r] , 11 (20) 12 P. KORONDI et al. o . 8 o. • . o. •..... ., . . 21 ... , 0 '." -<l • 4····· ... . 6 0 .8 --0 0 0..:;, Fig. 9. Chattering phenomenon ......... 1.S TImOls! .... i if compensation is switched off, if control law (16) is applied, if control law (19) is applied, T~ = 0.007 s . . 0 -(21) (22) Because of the physical limitation of the experimental system, it was im-possible to increase the disturbance mass. Instead of external disturbance the parameter uncertainties were increased, i.e. the desired dynamic be-havior of the real system was changed. From the nominal parameters it can be calculated that k0n = -41.1 [1/ s] , ~23) k un = 6.7 [T/vi] . The system with the desired dynamics has the following parameters: k0 = -427.1 [1/ s] , (24) The reference signal is a step change e~ = l[rad] (t> 0) . (25) The first set of plots in Fig. 5 shows the time functions of the ideal and the measured positions with the three control laws. The corresponding angular velocities are shown in Fig. 6. The phase trajectories of the ideal SLIDING MODE BASED FEEDBACK COMPENSATION 13 and measured state variables are shown in Fig. 7. It should be emphasized that in this case the sliding 'manifold' is a point in the one dimensional 'phase-space' of er and Fig. 7 shows the overall control behavior. Applying the control laws (16) and (19), the estimated disturbances and chattering actions are compared in Fig. 8 and in Fig. 9, respectively. 6. Conclusion This paper presents an experimental adaptation of a sliding mode based feedback compensation. The experimental results demonstrate that the discontinuous estimator in sliding mode is a promising tool to use in elimi-nating the effect of a big scale parameter perturbation and bounded exter-nal disturbance. References 1. YOU);G, K-K. D.: Controller Design for Manipulator Using Theory of Variable Struc-ture Systems, IEEE Tmnsaction on Systems, Man, and Cybernetics, Vo!. SMC-8, February 1978, pp. 101-109. 2. SABA);OVIC, A. - lZOSI~lOV, D.: Application of Sliding ~Iodes to Induction Motor Control, IEEE Tmns. Industrial Appl., Vo!. lA-17, No. 1, pp. 41-49, 1981. 3. HARASHn!A, F. HASHnlOTO, H. KO);DO, S.: MOSFET Converter-fed Posi-tion Servo System with Sliding Ylode ControL IEEE Tmns. Industrial Electronics, Vo!. IE-32, l\o. 3, pp. 238-244, 1986. 4. YOUNG, K. D. (editor) Variable Structure Control for Robotics and Aerospace Appli-cations, pp. 157-172, Elsevier Science Publishers, 1993. 5. HASHI~!OTO, H. MARUY.U1A, K. HARASHE.!A, F.: A Microprocessor Based Robot Manipulator Control with Sliding Mode, IEEE Transactions on Industrial Electron-ics, Vo!. IE-34, No. 1, pp. 11-18,1987. 6. KOSUGE, K. FURUTA, K.: Motion Control of a Robot Arm Using Variable Structure Systems, Crossing Bridges: Advances in Flexible Automation and Robotics, Vo!. 1, The American Society of Ylechanical Engineers, New York. /. Xc, JIA);XI:-i, - HASHn!OTO, H. HARASHI~!A, F.: On Design of VSS Observer for :\"onlinear Systems, Tmns. Society of Instrumentation and Control Engineers, Vo!. 25, No. 2, pp. 20-26, 1989. 8. HASHIMOTO, H. - UTKI);, V. 1. et. a!., VSS Observer for Linear Time Varying System. Proc. 16th Annual Conference of IEEE Industrial Electronics Society, November 27-30, 1990, Pacific Grove, California, pp. 34-39. 9. UTKI);, V. 1.: Variable Structure Control Optimalization, Springer-Verlag, 1993. 10. LI);, H-N. KUROE, Y.: Decoupling Control of DD Robot .:vlanipulators by VSS Disturbance Observer, 1993 National Convention Record I. E. E. Japan - Industry Applications Society, Tokyo, Japan, August 1993, pp. 761-766 (in Japanese). 11. FURUTA, K.: Sliding Mode Control of a Discrete System, System Cont.rol Letters, Vo!. 14, pp. 145-152, 1990. 12. DRAKUNOV, S. V. - UTKIN, V. I.: Sliding .:vlode in Dynamic Systems, Internatio.nal J. Control, Vo!. .55, pp. 1029-1037, 1990. 14 P. KORONDI et al. 13. KORONDI, P. HASHIMOTO, H. YOUNG, K. D. UTKIK, V. 1.: Sliding Mode Based Servo Design for Motion Control, IPEC'95 Yokohama, Proceedings, Vol. l. pp. 718-723, 1995. 14. YOUNG, K. D. - DRAKUKOV, S. V.: Discontinuous Frequency Shaping Compensation for Uncertain Dynamic Systems, Automatic Control 12th Triennial World Congress 1993, G. C. Goodwin and R. J. Evans (editors), Vol. 1, pp. 207-211, Pergamon Press, 1994. 15. YOUNG, K. D., Manifold Based Feedback Design, Advances in Control and its Appli-cations, Lecture Notes in Control and Information Sciences, Springer-Verlag, to ap-pear in 1995. 16. DRAZENOVIC, B.: The Invariance Condition in Variable Structure Systems, Automat-ica, Vol. 5, No. 3, pp. 287-295, 1969. 

SLIDING MODE BASED FEEDBACK COMPENSATION FOR MOTION CONTROL

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SLIDING MODE BASED FEEDBACK COMPENSATION FOR MOTION CONTROL

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