Anti-Noise and Anti-Disturbance Properties of Differential-Algebraic Relaxation Applied to a Set-Valued Controller

Ryo Kikuuwe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents illustrative analytical and numerical results regarding the noise and disturbance response characteristics of a proxy-based sliding mode control (PSMC), which is a position controller for robot manipulators proposed a decade ago. The PSMC can be viewed as a simple sliding mode controller of which the set-valuedness is relaxed in a particular differential-algebraic way. This paper compares this 'differential-algebraic relaxation' scheme with conventional managements of the set-valuedness, specifically, the use of boundary layers and low-pass filters. Results of frequency-domain analysis and simulations illustrate that PSMC realizes better noise rejection capability than conventional approaches and that its disturbance response characteristics are quite different from those of conventional ones.

Original languageEnglish
Title of host publication2018 15th International Workshop on Variable Structure Systems, VSS 2018
PublisherIEEE Computer Society
Pages480-485
Number of pages6
ISBN (Print)9781538664391
DOIs
Publication statusPublished - Sep 10 2018
Event15th International Workshop on Variable Structure Systems, VSS 2018 - Graz, Austria
Duration: Jul 9 2018Jul 11 2018

Publication series

NameProceedings of IEEE International Workshop on Variable Structure Systems
Volume2018-July
ISSN (Print)2165-4816
ISSN (Electronic)2165-4824

Other

Other15th International Workshop on Variable Structure Systems, VSS 2018
CountryAustria
CityGraz
Period7/9/187/11/18

Fingerprint

Sliding mode control
Controllers
Frequency domain analysis
Low pass filters
Manipulators
Boundary layers
Robots

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kikuuwe, R. (2018). Anti-Noise and Anti-Disturbance Properties of Differential-Algebraic Relaxation Applied to a Set-Valued Controller. In 2018 15th International Workshop on Variable Structure Systems, VSS 2018 (pp. 480-485). [8460379] (Proceedings of IEEE International Workshop on Variable Structure Systems; Vol. 2018-July). IEEE Computer Society. https://doi.org/10.1109/VSS.2018.8460379

Anti-Noise and Anti-Disturbance Properties of Differential-Algebraic Relaxation Applied to a Set-Valued Controller. / Kikuuwe, Ryo.

2018 15th International Workshop on Variable Structure Systems, VSS 2018. IEEE Computer Society, 2018. p. 480-485 8460379 (Proceedings of IEEE International Workshop on Variable Structure Systems; Vol. 2018-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kikuuwe, R 2018, Anti-Noise and Anti-Disturbance Properties of Differential-Algebraic Relaxation Applied to a Set-Valued Controller. in 2018 15th International Workshop on Variable Structure Systems, VSS 2018., 8460379, Proceedings of IEEE International Workshop on Variable Structure Systems, vol. 2018-July, IEEE Computer Society, pp. 480-485, 15th International Workshop on Variable Structure Systems, VSS 2018, Graz, Austria, 7/9/18. https://doi.org/10.1109/VSS.2018.8460379
Kikuuwe R. Anti-Noise and Anti-Disturbance Properties of Differential-Algebraic Relaxation Applied to a Set-Valued Controller. In 2018 15th International Workshop on Variable Structure Systems, VSS 2018. IEEE Computer Society. 2018. p. 480-485. 8460379. (Proceedings of IEEE International Workshop on Variable Structure Systems). https://doi.org/10.1109/VSS.2018.8460379
Kikuuwe, Ryo. / Anti-Noise and Anti-Disturbance Properties of Differential-Algebraic Relaxation Applied to a Set-Valued Controller. 2018 15th International Workshop on Variable Structure Systems, VSS 2018. IEEE Computer Society, 2018. pp. 480-485 (Proceedings of IEEE International Workshop on Variable Structure Systems).
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