Proxy-based sliding mode control for accurate and safe position control

Ryo Kikuuwe; Hideo Fujimoto

doi:10.1109/ROBOT.2006.1641156

Proxy-based sliding mode control for accurate and safe position control

Ryo Kikuuwe, Hideo Fujimoto

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

83 Citations (Scopus)

Abstract

High-gain PID position control, which is widely used with industrial robots, involves some risks in cases of abnormal events, such as unexpected environment contacts and temporal power failures. This paper proposes a new position control method to achieve both accurate, responsive tracking during normal operation and smooth, overdamped recovery from a large positional error after abnormal events. The proposed method, which we call proxy-based sliding mode control, is a modified version of sliding mode control adapted to discrete-time systems, and also is an extension of PID control. The validity of the proposed method is demonstrated through experiments.

Original language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	25-30
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2006.1641156
Publication status	Published - Dec 27 2006
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: May 15 2006 → May 19 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Other

Other	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	5/15/06 → 5/19/06

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2006.1641156

Cite this

Proxy-based sliding mode control for accurate and safe position control. / Kikuuwe, Ryo; Fujimoto, Hideo.

Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 25-30 1641156 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kikuuwe, R & Fujimoto, H 2006, Proxy-based sliding mode control for accurate and safe position control. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1641156, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 25-30, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1641156

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Proxy-based sliding mode control for accurate and safe position control

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