スライディングモードとオブザーバを組み合わせた2軸スカラ型ロボットのCP制御

概要

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Several papers were published about the application of the sliding mode control to servo motor, in which the robustness of the control law to the plant parameter variations is the main concern, and the chattering, which is inevitably generated by the delay of the control law and cancellation of the disturbance, is not paid so much attention. Authors have proposed a new approach of sliding mode control combined with disturbance observer, which has the advantage in the robustness with the less chattering even at the relatively low sampling frequency.In this paper, using the Lyapunov stability theorem, an optimal design procedure of disturbance observer based sliding mode CP (continuous Pass) control is proposed, and the result is applied to the two axis SCARA robot trajectory control. Through simulations and experiments, it is verified that the proposed approach is the effective design chart of the observer based sliding mode control, which has the advantage in the less chattering with the robustness of sliding mode control. And the effect of the order of disturbance observer was checked by experiments, which resulted in the fact that the higher order of observer is not so helpful.
社団法人日本ロボット学会の論文
1992-08-15