Prescribed Tracklng Performance

The continuous, accurate, and robust sliding mode tracking controller based on a disturbance observer for a brush- less direct drive servo motor (BLDDSM) is presented. Although the conventional sliding mode control (SMC) or variable struc- ture control (VSC) can give the desired tracking performance, there exists an inevitable chattering problem in control which is undesirable for a direct drive system. With the proposed algorithm, not only are the chattering problems removed, but also the prescribed tracking performance can be obtained by using the efficient compensation of the disturbance observer. The design of the sliding mode tracking controller for the prescribed, accurate, and robust tracking performance without the chattering problem is given based on the results of the detailed stability analysis. The usefulness of the proposed algorithm is demonstrated through the computer simulations for a BLDDSM under load variations.