スライディングモードを用いた非線形フィルタによる速度・加速度推定と制御系への適用(機械力学,計測,自動制御)

概要

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PID controlers are generally used to control mechanical systems. PID controlers, however, have a limit of robustness because of the influence of gravity, friction, and interaction of joints which cause modeling errors. A digital acceleration control has robustness for the modeling error. Therefore, the digital acceleration control is more effective than PID control. But it requires position, velocity, and acceleration of a controlled object to construct the controller. Information of velocity and acceleration cannot be always obtained in mechanical systems. Furthermore, it is desirable that the number of sensors is reduced for the purpose of cost and maintenance. To solve this problem, the system that Estimates the Smoothed and Differential value by using Sliding mode (ESDS) is employed. The ESDS enables digital acceleration control without increasing the number of sensors. This paper shows the results of the proposed control method by using a horizontal planar 2-link manipulator.
社団法人日本機械学会の論文
2009-09-25