Adaptive frequency-shaped sliding mode control for narrow-band disturbance rejection

Narrow-band disturbances will generate vibrations at multiple frequencies and cause significant performance degradation in modern high precision control systems. This paper proposes an adaptive frequency-shaped sliding mode control (AFSSMC) algorithm to deal with such disturbances. The proposed AFSS...

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Bibliographic Details
Published in2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) pp. 834 - 839
Main Authors Minghui Zheng, Tomizuka, Masayoshi
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2016
Subjects
Algorithm design and analysis
Frequency control
Frequency estimation
Observers
Shape
Sliding mode control
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Summary:Narrow-band disturbances will generate vibrations at multiple frequencies and cause significant performance degradation in modern high precision control systems. This paper proposes an adaptive frequency-shaped sliding mode control (AFSSMC) algorithm to deal with such disturbances. The proposed AFSSMC incorporates a peak filter with varying central frequencies to shape the sliding surface and thus provides on-line frequency-dependent control allocation. An extended state observer (ESO) is designed to estimate both the states and the disturbances. The disturbance estimate is utilized to identify the peak frequencies of the disturbance and adaptively tune the peak filter in AFSSMC; the state estimate is utilized to generate the control signal. The evaluation is performed on a simulated hard disk drive, and the effectiveness is validated.
DOI:10.1109/AIM.2016.7576872