Proxy-Based Sliding Mode Control: A Safer Extension of PID Position Control
Proxy-Based Sliding Mode Control: A Safer Extension of PID Position Control
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DOI：
10.1109/tro.2010.2051188
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发表时间：
2010-08-01
影响因子：
7.8
通讯作者：
Yamamoto, Motoji
中科院分区：
文献类型：
--
作者：
Kikuuwe, Ryo;Yasukouchi, Satoshi;Yamamoto, Motoji
高增益比例积分导数(PID)位置控制在意外环境接触和暂时性停电等异常情况下存在不安全行为的风险。本文提出了一种新的位置控制方法，它在正常运行时与常规的PID控制一样精确，但能够缓慢地、过抑制地恢复运动，而不会因大的位置误差而超调，从而导致执行器-力饱和。所提出的方法称为基于代理的滑模控制(PSMC)，它是一种最简单的滑模控制(SMC)的替代近似，也是PID控制的扩展。通过稳定性分析和实验结果验证了该方法的有效性。
High-gain proportional-integral-derivative (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.