Robust internal model control of servo motor based on sliding mode control approach. (October 2019)

• Record Type: Journal Article
• Authors: Li, Ping; Zhu, Guoli
• Is Part Of: ISA transactions. Volume 93(2019)
• Page Start: 199
• Page End: 208
• Publication Date: 2019-10
• Subjects: Internal model control (IMC) -- Robust control -- Sliding mode control (SMC) -- Servo motor -- Uncertainties; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2019.03.021
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: This paper proposes a robust internal model control (IMC) based on sliding mode control (SMC) approach for high-performance motion control of a servo motor subject to uncertainties and/or disturbances. The proposed control strategy considers not only the simplicity and intuition of the IMC-based controller for a prescribed tracking performance but also the effectiveness of the SMC scheme to guarantee the robustness of the servo system. Since the performance of the IMC-based controller can be analyzed via a SMC structure, a robust control law based on the SMC technique is introduced into the IMC scheme to decrease the sensitivity to uncertainties and enhance the resistance to disturbances. Moreover, the 2-degree-of-freedom IMC integrating the robust SMC scheme is developed to further improve the control performance. The stability is analyzed based on Lyapunov theory, and the theoretical results show that a prescribed transient tracking performance and a final tracking accuracy of the servo system can be guaranteed. Comparative simulations and experiments are investigated to verify the high performance nature of the proposed control strategy. Graphical abstract: Highlights: Servo motor system are subject to uncertainties and/or disturbances. Internal model control (IMC) scheme achieves a prescribed tracking performance. Sliding mode control (SMC) improves the robustness of the servo system. Robust IMC-based controller is synthesized via the SMC to improve the tracking accuracy. 2DOF-IMC scheme integrating the robust SMC are developed to further improve the control performance.