A third order sliding mode controller for a stepper motor

Michael Defoort (1) , Frédéric Nollet (2) , Thierry Floquet (3, 4) , Wilfrid Perruquetti (2, 3, 5)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
2 LAGIS - Laboratoire d'Automatique, Génie Informatique et Signal
3 NON-A - Non-Asymptotic estimation for online systems
4 SyNeR - Systèmes Non Linéaires et à Retards
5 Centrale Lille

This paper deals with the robust control problem of a stepper motor subject to parameter uncertainties and load torque perturbation. The developed algorithm is based on third-order sliding-mode control such that a desired angular motor position is accurately tracked. The proposed scheme requires the measurement or the estimation of the motor speed and acceleration for feedback. To avoid the use of tachometers and accelerometers which add cost and energy consumption, a robust second-order sliding-mode observer is presented. Experimental results illustrate the performance and the advantages of the proposed controller.

Domaines: Automatique / Robotique

Michael Defoort, Frédéric Nollet, Thierry Floquet, Wilfrid Perruquetti. A third order sliding mode controller for a stepper motor. IEEE Transactions on Industrial Electronics, 2009, 56 (9), pp.3337-3346. ⟨10.1109/TIE.2009.2026378⟩. ⟨hal-00731474⟩