Design of a Friction Self-Compensation Control Law for Multi-Link Robot Using Adaptive Sliding Mode Control
自适应滑模控制多连杆机器人摩擦自补偿控制律设计
基本信息
- 批准号:08455114
- 负责人:
- 金额:$ 1.92万
- 依托单位:
- 依托单位国家:日本
- 项目类别:Grant-in-Aid for Scientific Research (B)
- 财政年份:1996
- 资助国家:日本
- 起止时间:1996 至 1998
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
(1) In order to apply a sliding mode controller to robot control, a modified sliding mode controller is゚Cdesigned to follow a reference input. The modified controller is applied to robot in experiment. In robot゚Ccontrol, to track input exactly, the input model is included as an inner model in controller. An adaptive゚Cservo controller is proposed to identify the model and to include the model adaptively. To cancel friction゚Cdisturbances, an adaptive servo controller is given by a similar principle. Also to suppress disturbances, a゚Cstrongly stable self-tuning controller is derived from two-compensator scheme.(2) It is shown from experimental results that chattering, of which reduction is the most significant゚Csubject in designing sliding mode controller, is caused by noise in estimating robot angle velocity and is゚Creduced by improving the estimation using an observer. Designing the observer is shown to be dual to゚Cdesigning a sliding hyper plane in sliding mode controller. Using the duality, a new design scheme for゚Cobserver is given and the observer designed by the new method is shown to be effective in an experiment.(3) A large gain of switching law in sliding mode controller is another cause of chattering but the gain゚Cmust be larger than the upper bound of disturbances. To design a smaller gain an adaptive sliding mode゚Ccontroller to identify the bound and adaptively adjust the gain has been proposed by other authors. In this゚Cproject, it is proposed to use P1-type adaptive law in the adaptive sliding mode controller and it is shown゚Cthat the proposed method reduces the chattering and the closed-loop stability is proved mathematically.゚CAlso proposed to use the PI-type adaptive law in an adaptive observer used in the adaptive sliding mode゚Ccontroller and a reduction of chattering is shown.
(1)为了将滑模控制器应用于机器人控制中,设计了一种改进的滑模控制器,使其能够跟踪参考输入。将改进后的控制器应用于机器人实验。在机器人PID控制中,为了精确跟踪输入,输入模型被作为控制器的内模型。提出了一种自适应PID伺服控制器,用于模型辨识和模型自适应融合。为了消除摩擦干扰,根据类似的原理给出了自适应伺服控制器。为了抑制扰动,本文还利用双补偿器设计了一个强稳定自校正控制器。(2)实验结果表明,抖振是由机器人角速度估计中的噪声引起的,而减小抖振是滑模控制器设计中最重要的课题。证明了观测器的设计与滑模控制器中滑动超平面的设计是对偶的。利用对偶性,给出了一种新的观测器设计方案,并通过实验证明了新方法设计的观测器是有效的。(3)滑模控制器中切换律增益过大是引起抖振的另一个原因,但切换律增益必须大于扰动的上界。为了设计更小的增益,其他作者提出了一种自适应滑模变结构控制器来识别边界和自适应调整增益。本文提出了在自适应滑模控制器中采用PI型自适应律,并证明了该方法的有效性和稳定性,还提出了在自适应滑模控制器中采用PI型自适应律的自适应观测器,并证明了该方法的有效性和稳定性。
项目成果
期刊论文数量(89)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
V.Kroumov, A.Inoue: "Disturbance and Friction Compensation Control of Direct Drive Motor Using an Adaptive Observer" Proceedings of 1996 4th IEEE International Workshop on Advanced Motion Control. Vol.2. 219-224 (1996)
V.Kroumov、A.Inoue:“使用自适应观测器对直接驱动电机进行干扰和摩擦补偿控制”1996 年第四届 IEEE 国际高级运动控制研讨会论文集。
- DOI:
- 发表时间:
- 期刊:
- 影响因子:0
- 作者:
- 通讯作者:
Valeri T.Kroumov and Akira Inoue: "Disturbance and Friction Compensation Control of Direct Drive Motor Using an Adaptive Observer" Proceedings of 1996 4th IEEE International Workshop on Advanced Motion Control, Tsu, Japan. Vol.2. 219-224 (1996)
Valeri T.Kroumov 和 Akira Inoue:“使用自适应观测器对直接驱动电机进行干扰和摩擦补偿控制”1996 年第 4 届 IEEE 国际高级运动控制研讨会论文集,日本津市。
- DOI:
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- 影响因子:0
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Yi Liu, Akira Inoue, Shiro Masuda and Yoichi Hirashima: "A Design for Discrete Time Model Reference Adaptive Control Using Delta Operator" Preprints of 11th IFAC Symposium on System Identification, Kitakyushu, Japan.Vol.2. 883-888 (1997)
Yi Liu、Akira Inoue、Shiro Masuda 和 Yoichi Hirashima:“使用 Delta 算子的离散时间模型参考自适应控制的设计”第 11 届 IFAC 系统识别研讨会预印本,日本北九州。第 2 卷。
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- 影响因子:0
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- 通讯作者:
Akira Inoue, Shiro Masuda and Yoichi Hirashima: "A Design of an Observer Using Riccati Equation and its Application to Control of an Inverted Pendulum" Proceedings of 47th Joint Conference of Societies of Electric and Information Engineers. 307 (1996)
Akira Inoue、Shiro Masuda 和 Yoichi Hirashima:“使用 Riccati 方程的观测器设计及其在倒立摆控制中的应用”第 47 届电气与信息工程师学会联席会议论文集。
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- 影响因子:0
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Toru Morinaga, Yoichi Hirashima, Akira Inoue and Shiro Masuda: "A Design of an Adaptive Control System Estimating the Internal Model and Application to HDD Head Controller" Proceedings of 6th SICE Chugoku Region Conference. 74-75 (1997)
Toru Morinaga、Yoichi Hirashima、Akira Inoue 和 Shiro Masuda:“估计内部模型的自适应控制系统的设计及其在 HDD 磁头控制器中的应用”第六届 SICE 中国地区会议论文集。
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INOUE Akira其他文献
ベンサム研究の現在
边沁研究现状
- DOI:
- 发表时间:
2014 - 期刊:
- 影响因子:0
- 作者:
ITAI Hiroaki;INOUE Akira;KODAMA Satoshi;板井広明;高島和哉・小畑俊太郎・板井広明 - 通讯作者:
高島和哉・小畑俊太郎・板井広明
Model Predictive Control of Multivariable Plants Using Interactor and Solving Procedure of Matrix Polynomial Diophantine Equations
使用交互器的多变量对象模型预测控制和矩阵多项式丢番图方程的求解过程
- DOI:
10.9746/jcmsi.13.84 - 发表时间:
2020 - 期刊:
- 影响因子:0
- 作者:
INOUE Akira;DENG Mingcong;SATO Takao;YANOU Akira;HENMI Tomohiro - 通讯作者:
HENMI Tomohiro
ベンサムにおける功利主義的統治像――パノプティコン再考
边沁的功利主义政府形象:重新考虑圆形监狱
- DOI:
- 发表时间:
- 期刊:
- 影响因子:0
- 作者:
ITAI Hiroaki;INOUE Akira;KODAMA Satoshi;板井広明;高島和哉・小畑俊太郎・板井広明;板井広明;ITAI Hiroaki;板井広明 - 通讯作者:
板井広明
Jeremy Bentham on Government and Indirect Legislation: Regime of publicity, enlightenment, and discipline
杰里米·边沁谈政府和间接立法:宣传、启蒙和纪律制度
- DOI:
- 发表时间:
2014 - 期刊:
- 影响因子:0
- 作者:
ITAI Hiroaki;INOUE Akira;KODAMA Satoshi;板井広明;高島和哉・小畑俊太郎・板井広明;板井広明;ITAI Hiroaki - 通讯作者:
ITAI Hiroaki
A study of the methodology of Arthur Lyon Bowley and Alfred Marshall
阿瑟·里昂·鲍利和阿尔弗雷德·马歇尔的方法论研究
- DOI:
- 发表时间:
2014 - 期刊:
- 影响因子:0
- 作者:
ITAI Hiroaki;INOUE Akira;KODAMA Satoshi;板井広明;高島和哉・小畑俊太郎・板井広明;板井広明;ITAI Hiroaki;板井広明;菊池・有賀・田上編;小泉・井上・今村・吉田編;Masashi KONDO - 通讯作者:
Masashi KONDO
INOUE Akira的其他文献
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{{ truncateString('INOUE Akira', 18)}}的其他基金
Mutations for life lengthening of pancreatic cancer patients: mechanism and proposed theory for practice
延长胰腺癌患者寿命的突变:机制和提出的实践理论
- 批准号:
19K08378 - 财政年份:2019
- 资助金额:
$ 1.92万 - 项目类别:
Grant-in-Aid for Scientific Research (C)
Development of systemic therapy using nanoparticles incorporating glucose against gastrointestinal cancer.
使用掺有葡萄糖的纳米颗粒对抗胃肠道癌症的全身疗法的开发。
- 批准号:
25670578 - 财政年份:2013
- 资助金额:
$ 1.92万 - 项目类别:
Grant-in-Aid for Challenging Exploratory Research
Individualized treatment of lung cancer based on the resistant mutation in EGFR gene from circulating tumor cells
基于循环肿瘤细胞EGFR基因耐药突变的肺癌个体化治疗
- 批准号:
22790746 - 财政年份:2010
- 资助金额:
$ 1.92万 - 项目类别:
Grant-in-Aid for Young Scientists (B)
The splicing factor and diseases caused by its anomaly
剪接因子及其异常引起的疾病
- 批准号:
21550162 - 财政年份:2009
- 资助金额:
$ 1.92万 - 项目类别:
Grant-in-Aid for Scientific Research (C)
A Study in Ethics on the Theory of Justice Synthesizing the Values of Freedom and Equality
综合自由平等价值观的正义论伦理学研究
- 批准号:
21820007 - 财政年份:2009
- 资助金额:
$ 1.92万 - 项目类别:
Grant-in-Aid for Research Activity Start-up
Study on the myosin like protein from brwn alga Laminaria japonica
褐藻海带肌球蛋白样蛋白的研究
- 批准号:
20780150 - 财政年份:2008
- 资助金额:
$ 1.92万 - 项目类别:
Grant-in-Aid for Young Scientists (B)
The analysis of mechanisms of interstitial lung disease induced by epidermal growth factor receptor inhibitor.
表皮生长因子受体抑制剂诱发间质性肺疾病的机制分析
- 批准号:
19790552 - 财政年份:2007
- 资助金额:
$ 1.92万 - 项目类别:
Grant-in-Aid for Young Scientists (B)
Construction of an Advanced Integrated Control Structure for Safety and Functional Maintenance in Disaster-Stricken Industrial Complex
构建先进的受灾工业园区安全和功能维护综合控制结构
- 批准号:
16101005 - 财政年份:2004
- 资助金额:
$ 1.92万 - 项目类别:
Grant-in-Aid for Scientific Research (S)
Study of novel alkalikeratinase enzyme
新型碱性角蛋白酶的研究
- 批准号:
16580064 - 财政年份:2004
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$ 1.92万 - 项目类别:
Grant-in-Aid for Scientific Research (C)
Establishment of a competitive PCR for N-myc amplification in neuroblastoma
神经母细胞瘤 N-myc 扩增竞争性 PCR 的建立
- 批准号:
07671958 - 财政年份:1995
- 资助金额:
$ 1.92万 - 项目类别:
Grant-in-Aid for Scientific Research (C)
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