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

Ryo Kikuuwe

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2018 15th International Workshop on Variable Structure Systems, VSS 2018
出版社IEEE Computer Society
ページ480-485
ページ数6
ISBN(印刷版)9781538664391
DOI
出版ステータス出版済み - 9 10 2018
イベント15th International Workshop on Variable Structure Systems, VSS 2018 - Graz, オーストリア
継続期間: 7 9 20187 11 2018

出版物シリーズ

名前Proceedings of IEEE International Workshop on Variable Structure Systems
2018-July
ISSN(印刷版)2165-4816
ISSN(電子版)2165-4824

その他

その他15th International Workshop on Variable Structure Systems, VSS 2018
Countryオーストリア
CityGraz
Period7/9/187/11/18

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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