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

• 批准号: 08455114
• 负责人: INOUE Akira
• 金额: $ 1.92万
• 依托单位: OKAYAMA UNIVERSITY
• 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: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08455114/
• 关键词: Sliding Mode Control; Adaptive Control; Robot Control; Friction Disturbance Cancellation; Observer; Chattering; Adaptive Sliding Mode Control; Adaptive Observer; オブザ-バ; ハイブリッド適応則

(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

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。

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。

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。

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。

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。