Abstract
A global sliding-mode control (GSMC) scheme with input constraint is presented in this article. The scheme offers a measure to weigh the contribution between GSMC and the nominal dynamics so that the chattering level and the maximal control effort can be reduced based on an online tuning of the weight on GSMC. A moving sliding function is adopted on the control design, the input can thus be confined within a predefined boundary during transient period, while a robust performance can be guaranteed in the steady state. The efficacy of this scheme is further validated via implementation on a linear variable reluctance motor (LVRM) servo system. Both simulation and experimental studies further demonstrate its feasibility and effectiveness.
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