Sliding Mode Control for Electric Power Assist Systems
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概要
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This paper presents a nonlinear controller for electric power assist systems based on the sliding mode control. The proposed sliding mode controller is designed to achieve desired nonlinear properties including gravitational effect with robustness against disturbances such as friction force and modeling errors. Furthermore, so-called reaching phase is positively utilized so that the operator can feel disturbance torque of relatively large amplitude which should be noticed as information about environment, for example, when hitting an obstacle accidentally. Although the reaching phase can be designed from several points of view, the dynamics in the reaching phase is linearlized in order to use fruitful linear control theories such as H-infinity theory.
- 一般社団法人 日本機械学会の論文
著者
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Yokoyama Makoto
Department Of Materials And Biological Sciences Faculty Of Science Ibaraki University
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Tsuchiya Masahiko
Department Of Industrial Chemistry Faculty Of Engineering The University Of Tokyo
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YOKOYAMA Makoto
Department of Mechinical & Production Engineering, Niigata University
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KAWASAKI Takafumi
Canon Inc.
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