Observer-based second order sliding mode control laws for stepper motors

Frédéric Nollet 1 Thierry Floquet 2, 3 Wilfrid Perruquetti 2, 3, 4
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper deals with the design of an observer-based second order sliding mode control law for the stepper motor. The control objective is to perform accurate tracking of the motor position. The motor velocity is obtained via a second order sliding mode observer. The second order sliding mode controller is shown to be robust with respect to time-varying load torque perturbation and parametric uncertainties. Experimental results illustrate the efficiency of the proposed approach.
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Journal articles
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https://hal.inria.fr/hal-00757975
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Submitted on : Tuesday, November 27, 2012 - 5:54:55 PM
Last modification on : Friday, March 22, 2019 - 1:34:47 AM

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Frédéric Nollet, Thierry Floquet, Wilfrid Perruquetti. Observer-based second order sliding mode control laws for stepper motors. Control Engineering Practice, Elsevier, 2008, 16 (4), pp.429-443. ⟨10.1016/j.conengprac.2007.05.008⟩. ⟨hal-00757975⟩

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