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

Ryo Kikuuwe, Hideo Fujimoto

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

70 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 languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages25-30
Number of pages6
DOIs
Publication statusPublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    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 (pp. 25-30). [1641156] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641156