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

Ryo Kikuuwe, Satoshi Yasukouchi, Hideo Fujimoto, Motoji Yamamoto

研究成果: ジャーナルへの寄稿記事

72 引用 (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.

元の言語英語
記事番号5497201
ページ(範囲)670-683
ページ数14
ジャーナルIEEE Transactions on Robotics
26
発行部数4
DOI
出版物ステータス出版済み - 8 2010

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Position control
Sliding mode control
Gain control
Actuators

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

これを引用

Proxy-based sliding mode control : A safer extension of PID position control. / Kikuuwe, Ryo; Yasukouchi, Satoshi; Fujimoto, Hideo; Yamamoto, Motoji.

:: IEEE Transactions on Robotics, 巻 26, 番号 4, 5497201, 08.2010, p. 670-683.

研究成果: ジャーナルへの寄稿記事

Kikuuwe, Ryo ; Yasukouchi, Satoshi ; Fujimoto, Hideo ; Yamamoto, Motoji. / Proxy-based sliding mode control : A safer extension of PID position control. :: IEEE Transactions on Robotics. 2010 ; 巻 26, 番号 4. pp. 670-683.
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