The Sliding Mode Controller with an Additional Proportional Controller for Fast Tracking Control of Second Order Systems

被引：0

作者：

Kang, Boo Won ^{[1
]}

Kang, Seung Gyu ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Taejon, South Korea

来源：

PROCEEDINGS 2012 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) | 2012年

关键词：

Sliding mode control; Nonlinear system; Proportional controller; Position tracking; SURFACE; DESIGN;

D O I：

暂无

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose a sliding mode controller with an additional proportional controller (SMC with APC) for fast tracking control of second order systems. Using the additional proportional controller, fast tracking control is achieved. The control input of the sliding mode control law is modified accordingly by applying the Lyapunov stability condition and adding a proportional controller. To show the validation of the proposed method, the stability is proved by using two Lyapunov functions. And the PHANToM (TM) haptic device of a nonlinear second-order system is considered. The results of performance are compared with conventional sliding mode controllers which have an additional proportional controller or not.

引用

页码：2383 / 2388

页数：6

共 9 条

[1]

Cavusoglu M. C., 2001, UC BERKELEY ERL MEMO

[2] A TIME-VARYING SLIDING SURFACE FOR FAST AND ROBUST TRACKING CONTROL OF 2ND-ORDER UNCERTAIN SYSTEMS [J].

CHOI, SB ;

PARK, DW ;

JAYASURIYA, S .

AUTOMATICA, 1994, 30 (05) :899-904

[3] VARIABLE STRUCTURE CONTROL - A SURVEY [J].

HUNG, JY ;

GAO, WB ;

HUNG, JC .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1993, 40 (01) :2-22

[4] Dynamic sliding PID control for tracking of robot manipulators: theory and experiments [J].

Parra-Vega, V ;

Arimoto, S ;

Liu, YH ;

Hirzinger, G ;

Akella, P .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (06) :967-976

[5] Optimal Design of Rotating Sliding Surface for Sliding Mode Control [J].

Sajad, Saeedi G. ;

Mohammad, Beheshti H. .

2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, 2009, :774-777

[6]

Tahmasebi AM, 2005, IEEE INTL CONF CONTR, P1251

[7] Sliding mode control of high order systems using a constant nonlinear sliding surface on a transformed coordinate axis [J].

Tokat, S. ;

Eksin, I. ;

Guzelkaya, M. .

JOURNAL OF VIBRATION AND CONTROL, 2008, 14 (06) :909-927

[8] Design of a sliding mode controller with a nonlinear time-varying sliding surface [J].

Tokat, S ;

Eksin, I ;

Güzelkaya, M ;

Söylemez, MT .

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2003, 25 (02) :145-162

[9]

Tokat S., 2003, TURK J ENGIN, V11

← 1 →