Sliding mode control of electromechanical systems [Elektronische Ressource] / Heide Brandtstädter

Technische Universit¨at Mu¨nchenLehrstuhl fu¨r Steuerungs- und RegelungstechnikSliding Mode Control ofElectromechanical SystemsHeide Brandtst¨adterVollst¨andiger Abdruck der von der Fakult¨at fu¨r Elektrotechnik und Informationstechnikder Technischen Universit¨at Mu¨nchen zur Erlangung des akademischen Grades einesDoktor-Ingenieurs (Dr.-Ing.)genehmigten Dissertation.Vorsitzender: Univ.-Prof. Dr.-Ing. Wolfgang UtschickPru¨fer der Dissertation:1. Univ.-Prof. Dr.-Ing./Univ. Tokio Martin Buss2. Prof. Dr. Vadim I. Utkin,Ohio State University/ USADie Dissertation wurde am 1.10.2008 bei der Technischen Universit¨at Mu¨nchen einge-reicht und durch die Fakult¨at fu¨r Elektrotechnik und Informationstechnik am 16.3.2009angenommen.AbstractSliding mode control provides insensitivity to parameter variations and disturbances.Theserobustnesspropertiesmakethisdiscontinuouscontrolstrategyveryattractive. How-ever, its implementation in the presence of unmodeled dynamics leads to high-frequencyoscillations termed chattering. This effect degrades the control performance and mightdamage the system. Many current implementations suffer from this drawback.In this thesis, a novel sliding mode control strategy for mechanical systems with electricmotors as actuators is proposed. The chattering problem is tackled by including actuatordynamics, which has so far been ignored, in the control unit design.