Velocity-bounding stiff position controller

Ryo Kikuuwe, Takahiro Yamamoto, Hideo Fujimoto

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

9 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
ページ3050-3055
ページ数6
DOI
出版ステータス出版済み - 12 1 2006
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, 中国
継続期間: 10 9 200610 15 2006

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

その他

その他2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
国/地域中国
CityBeijing
Period10/9/0610/15/06

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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