非定常スライディングモード制御手法の提案およびその有効性の検証(機械力学,計測,自動制御)

概要

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Sliding mode control realizes desired dynamics of an object system by constraining its states on switching hyperplane designed in phase space. Besides, for control problems of a time-varying system, the controller considering its nonstationary characteristic is effective for its motion and vibration control. Therefore, this paper presents a synshesis method of nonstationary sliding mode control using a time-varying hyperplane. In the proposed method, a time-varying feedback gain derived from the nonstationary control method is adopted as a gradient of time-varying switching hyperplane, and the hyperplane is designed as a continuous function with time. The controller constructed by the time-varying hyperplane and its differential term is suitable for the control of time-varying system, and then the controller shortens the term of reaching mode. Furthermore, this paper gives the proof of stability of closed-loop system including the proposed controller, and examines its performance and the special feature through the numerical calculation for a wire changing its length.
社団法人日本機械学会の論文
2005-08-25