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，设计了一种改进的滑模控制器来遵循参考输入。将改进后的控制器应用于机器人进行实验。在机器人控制中，为了准确跟踪输入，输入模型作为内部模型包含在控制器中。提出了一种自适应Cservo控制器来识别模型并自适应地包含模型。为了消除摩擦干扰，采用类似原理给出了自适应伺服控制器。同样为了抑制干扰，从两个补偿器方案中推导出了一个强稳定的自校正控制器。(2)实验结果表明，颤振是设计滑模控制器时最重要的课题，而颤振是由估计机器人角速度时的噪声引起的，通过改进观测器的估计可以减少颤振。设计观察器被证明与在滑模控制器中设计滑动超平面是双重的。利用对偶性，给出了一种新的ﾟCobserver设计方案，并在实验中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的大增益是引起抖振的另一个原因，但增益ﾟC必须大于扰动的上界。为了设计较小的增益，其他作者提出了一种自适应滑模控制器来识别边界并自适应调整增益。在这个ﾟC项目中，提出在自适应滑模控制器中使用P1型自适应律，结果表明，该方法减少了抖振，并且在数学上证明了闭环稳定性。ﾟC还提出在自适应滑模控制器中使用的自适应观测器中使用PI型自适应律，并减少了 显示喋喋不休。

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。