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）为了将滑动模式控制器应用于机器人控件，修改的滑动模式控制器被cdesigner cdesigner遵循参考输入。修改后的控制器在实验中应用于机器人。在机器人ﾟ ccontrol中，要准确跟踪输入，输入模型作为内部模型包含在控制器中。提出了自适应ﾟ cservo控制器来识别模型并自适应地包括模型。为了取消摩擦ﾟ cdist扰动，由类似的原理给出了自适应伺服控制器。同样为了抑制灾难，一个稳定稳定的自我调整控制器源自两个补偿器方案。（2）从实验结果中可以证明，chat不休是在设计滑动模式控制器中最重要的csubignter是设计滑动模式控制器中最显着的csubject，这是通过估算机器人角度速度的噪声而引起的。设计观察者在滑动模式控制器中表现为ﾟ cdesigne cdesigne to cdesigne cdesigning。使用二元性，给出了针对Cobserver的新设计方案，并且通过新方法设计的观察者在实验中被证明是有效的。（3）在滑动模式控制器中，切换定律的大幅增长是chat不休的另一个原因，但增益ﾟ comust比灾难的上限大。为了设计较小的增益，自适应滑动模式ﾟ c controller以识别界限并自适应调整增益。在此措施中，建议在适应性滑动模式控制器中使用P1型适应性定律，并显示出拟议的方法降低了chat不休，并且在数学上证明了闭环稳定性在数学上证明了calso。提议使用Pi-Type的自适应观察者在适应性的自适应范围内使用适应性的sprantive the the Aftrivitive and the的自适应措施。显示chat不休。

项目成果

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。

S.Masuda,H.Suzuki,A.Inoue,Y.Hirashima: "Performance Improvement in an Internal Model Control of Discrete-Event Systems Based on Max-Algebra" Proceedings of the fourth international symposium on artificial life and robotics. Vol.2. 118-121 (1999)

S.Masuda，H.Suzuki，A.Inoue，Y.Hirashima：“基于最大代数的离散事件系统内模控制的性能改进”第四届国际人工生命和机器人研讨会论文集。

Y.Hirashima,Y.Iiguni: "An Identification System Design Using CMAC with a Learning Algorithm Based on the Kalman Filter" Preprints of 11th IFAC Symposium on System Identification. Vol.3. 1389-1394 (1997)

Y.Hirashima，Y.Iiguni：“An Identity System Design using CMAC with a Learning Algorithm Based on the Kalman Filter”第 11 届 IFAC 系统辨识研讨会预印本。

増田士朗: "Lookahead戦略によるスーパバイザ制御" システム/制御/情報. 42巻8号. 428-433 (1998)

Shiro Masuda：“使用前瞻策略的主管控制”系统/控制/信息，第 42 卷，第 8 期。428-433 (1998)

Akira,Inoue,Akira Yanou Youichi Hirashima: "A Design of a Strongly Stable Self-Tuning Controller Using Coprime Factorization Approach" Preprints of 14th IFAC World Congress,July,5-9,1999,Beijing. (掲載予定). (1999)

Akira，Inoue，Akira Yanou Youichi Hirashima：“A Design of a Strongly Stable Self-Tuning Controller using Coprime Factorization Approach”，第十四届 IFAC 世界大会预印本，1999 年 7 月 5-9 日，北京（待出版）。 ）