Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control
Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control
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DOI：
10.1109/acc.2013.6580737
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发表时间：
2013-06
期刊：
影响因子：
--
通讯作者：
T. Iwamura;M. Toda
中科院分区：
文献类型：
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作者：
T. Iwamura;M. Toda
在本文中，我们提出了一种振动基机械臂的运动控制方法，该方法与安装在船舶或海洋结构上的机械系统相关。此类系统的典型特性是由于需要克服基础振荡而产生强烈且持续的干扰。因此，我们尝试利用滑模控制（SMC）概念，该概念是开发针对干扰和模型不确定性的鲁棒控制系统的强大工具。具体来说，我们提出了一种基于 SMC 的新颖方法，引入具有可变增益积分控制的非线性滑动表面。我们针对所提出的 SMC 进行了控制系统设计和稳定性分析，并通过仿真演示了其控制性能。结果表明，所提出的控制方法可以实现振荡机械臂的成功控制性能，并且与传统的 SMC 相比，在控制性能和控制输入方面进一步表现出优势。
In this paper, we present a motion control method of oscillatory-base manipulators, which are associated with mechanical systems installed on vessels or ocean structures. The typical property of such systems is strong and persistent disturbance due to the base oscillation to be overcome. Therefore, we attempt to exploit the sliding mode control (SMC) concept which is known to be a powerful tool to develop a robust control system against disturbances and model uncertainties. Specifically, we propose a novel approach based on SMC by introducing a nonlinear sliding surface with variable-gain integral control. We address control system design and stability analysis for the proposed SMC, and demonstrate its control performance by simulations. The results show that the proposed control method can achieve successful control performance for oscillatory-manipulators and further exhibits advantageous features with respect to control performance and control inputs when compared with the conventional SMC.