Robust Internal Model Control for Motor Systems Based on Sliding Mode Technique and Extended State Observer
Ping Li,Kaiqi Guo,Chenyang Sun,Mingming Zhang,Ping Li,Kaiqi Guo,Chenyang Sun,Mingming Zhang
Electric motors have been widely used as the actuators of robot and automation systems. This paper aims at achieving the high-precision position control of motor drive systems. For this purpose, a robust control scheme is presented by combining the internal model principle, the sliding mode technique and the extended state observer (ESO). The PID-type controller is firstly designed by using the in...
