Proxy-based sliding mode control: A safer extension of PID position control

Ryo Kikuuwe, Satoshi Yasukouchi, Hideo Fujimoto, Motoji Yamamoto

研究成果: Contribution to journalArticle査読

102 被引用数 (Scopus)

抄録

High-gain proportionalintegralderivative (PID) position control involves some risk of unsafe behaviors in cases of abnormal events, such as unexpected environment contacts and temporary power failures. This paper proposes a new position-control method that is as accurate as conventional PID control during normal operation, but is capable of slow, overdamped resuming motion without overshoots from large positional errors that result in actuator-force saturation. The proposed method, which we call proxy-based sliding mode control (PSMC), is an alternative approximation of a simplest type of sliding mode control (SMC), and also is an extension of the PID control. The validity of the proposed method is demonstrated through stability analysis and experimental results.

本文言語英語
論文番号5497201
ページ(範囲)670-683
ページ数14
ジャーナルIEEE Transactions on Robotics
26
4
DOI
出版ステータス出版済み - 8 2010

All Science Journal Classification (ASJC) codes

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用

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