Velocity-bounding stiff position controller

Ryo Kikuuwe, Takahiro Yamamoto, Hideo Fujimoto

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

9 Citations (Scopus)

Abstract

High-gain PID position control, which is widely used with robots having complex dynamics, involves some risks in cases of abnormal events, such as unexpected environment contacts, temporal power failures, and wrong position commands from a higher-level controller. We previously proposed a proxy-based sliding mode control (PSMC) scheme, which is an extension of PID control that ensures slow, moderate, overdamped recovery from a large positional error at abnormal events without sacrificing tracking accuracy during normal operation. Its weakness is that the velocity is not bounded. This paper proposes a velocity-bounding PSMC (VB-PSMC) scheme, which is an extension of PSMC to impose an arbitrary magnitude limit on the velocity. The VB-PSMC method can be used as a lowest-level position servo that is safer than PSMC and much safer than conventional PID control. The advantage of VB-PSMC was demonstrated through implementation experiments.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages3050-3055
Number of pages6
DOIs
Publication statusPublished - Dec 1 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: Oct 9 2006Oct 15 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period10/9/0610/15/06

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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