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Mathematical Problems in Engineering
Volume 2014, Article ID 583280, 10 pages
Research Article

A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering

Department of Electrical Engineering, National Chin-Yi University of Technology, No. 57, Section 2, Zhongshan Road, Taiping District, Taichung 41170, Taiwan

Received 2 March 2014; Accepted 8 April 2014; Published 19 May 2014

Academic Editor: Her-Terng Yau

Copyright © 2014 Chiu-Keng Lai. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Sliding mode control (SMC) is rapped for the chattering due to high gain control. However, high gain control causes the system robust. For developing a system with robustness of SMC, a servo motor motion controller combining the two-degree-of-freedom (2DOF) system and SMC is proposed. The discussed motion type is point-to-point control with the constraint of trapezoid velocity profile. SMC is designed to guide the motor motion to follow a predefined trail, and the inner 2DOF system is used to compensate the deterioration due to the adoption of load observer. The proposed hybrid system is realized on a PC-based motion controller, and the validness is verified by simulation and experimental results.