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An NC Code Based Machining Movement Simulation Method for a Parallel Robotic Machine Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Fractional-Order Integral Sliding Mode Controller for Biaxial Motion Control System

Authors : Xi Yu, Huan Zhao, Xiangfei Li, Han Ding

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

Biaxial tables are widely applied in high performance motion control applications for high accuracy. Tracking error is one of the most significant indicators of machining precision, and tracking control is an effective means to eliminate the tracking error. In this paper, to attenuate the tracking error and reduce the chattering phenomenon in the control input simultaneously, a fractional-order integral sliding mode controller is proposed. Compared with the existing sliding mode controller, the proposed control law not only maintains the original robustness against variations but also reduces the tracking error effectively. At the same time, the overshoot can be weakened and the reaching law will converge to the sliding surface more rapidly. Experiments conducted on a biaxial table demonstrate that the proposed control scheme is easy to apply, the tracking error is smaller and the input chatter can be improved significantly compared to the integer SMC.

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Metadata
Title
Fractional-Order Integral Sliding Mode Controller for Biaxial Motion Control System
Authors
Xi Yu
Huan Zhao
Xiangfei Li
Han Ding
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65291-7

Electronic ISBN: 978-3-319-65292-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65292-4_3

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