论文信息 - Theory and implementation of sliding mode control with perturbation estimation (SMCPE)

Theory and implementation of sliding mode control with perturbation estimation (SMCPE)

A novel approach, sliding mode control with perturbation estimation (SMCPE), is presented to remove the restrictions of SMC about the a priori upperbound knowledge for the perturbations and to improve the tracking performance. It does not require the a priori knowledge of the upper bounds of the uncertainties and it offers much better tracking accuracies. However, SMCPE requires that the control loop speeds be reasonably faster than the perturbation dynamics. The success of SMCPE applications is closely related to the precision of the state measurements. Experimental justifications are presented from the applications of SMCPE on a SCARA-type Hitachi robot.<<ETX>>

Hakan Elmali | Nejat Olgaç

[1] J. Hedrick,et al. Control of multivariable non-linear systems by the sliding mode method , 1987 .

[2] K. Youcef-Toumi,et al. A Time Delay Controller for Systems with Unknown Dynamics , 1988 .

[3] Dorothée Normand-Cyrot,et al. Discrete Time Models for Robot Arm Control , 1985 .

[4] H. Elmali,et al. Sliding mode control with perturbation estimation (SMCPE): a new approach , 1992 .

[5] J. J. Slotine,et al. Tracking control of non-linear systems using sliding surfaces with application to robot manipulators , 1983, 1983 American Control Conference.

[6] L. Fu,et al. Globally stable robust tracking of nonlinear systems using variable structure control and with an application to a robotic manipulator , 1990 .

[7] Jean-Jacques E. Slotine,et al. Sliding controller design for non-linear systems , 1984 .

[8] Hakan Elmali,et al. Robust output tracking control of nonlinear MIMO systems via sliding mode technique , 1992, Autom..

[9] D. Normand-Cyrot,et al. On the linearizing feedback in nonlinear sampled data control schemes , 1986, 1986 25th IEEE Conference on Decision and Control.

[10] O. Kaynak,et al. On the stability of discrete-time sliding mode control systems , 1987 .

[11] Kamal Youcef-Toumi,et al. A Time Delay Controller for Systems with Unknown Dynamics , 1988, 1988 American Control Conference.

[12] L. Fu,et al. Robust output tracking for nonlinear systems with weakly non-minimum phase , 1993 .