Sliding-Mode Robot Control With Exponential Reaching Law

被引：451

作者：

Fallaha, Charles J. ^{[1
]}

Saad, Maarouf ^{[1
]}

Kanaan, Hadi Youssef ^{[2
]}

Al-Haddad, Kamal ^{[1
]}

机构：

[1] Ecole Technol Super, Dept Elect Engn, Montreal, PQ H3C 1K3, Canada

[2] St Joseph Univ, Ecole Super Ingenieurs Beirut, Fac Engn, Dept Elect & Mech Engn, Beirut 11072050, Lebanon

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2011年 / 58卷 / 02期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Chattering; control; exponential reaching law (ERL); modular robot; multi-input/multi-output (MIMO); nonlinear; sliding mode; VARIABLE-STRUCTURE CONTROL; BACKSTEPPING CONTROL; SYSTEMS;

D O I：

10.1109/TIE.2010.2045995

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, sliding-mode control is applied on multi-input/multi-output (MIMO) nonlinear systems. A novel approach is proposed, which allows chattering reduction on control input while keeping high tracking performance of the controller in steady-state regime. This approach consists of designing a nonlinear reaching law by using an exponential function that dynamically adapts to the variations of the controlled system. Experimental study was focused on a MIMO modular robot arm. Experimental results are presented to show the effectiveness of the proposed approach, regarding particularly the chattering reduction on control input in steady-state regime.

引用

页码：600 / 610

页数：11

共 24 条

[11]

Isidori A., 1995, NONLINEAR CONTROL SY, V3rd, DOI 10.1007/978-1-84628-615-5

[12]

Krstic M, 2004, IEEE T AUTOMAT CONTR, V49, P1668, DOI [10.1109/TAC.2004.835361, 10.1109/tac.2004.835361]

[13] A Study of T-S Model-Based SMC Scheme With Application to Robot Control [J].

Liang, Yew-Wen ;

Xu, Sheng-Dong ;

Liaw, Der-Cherng ;

Chen, Cheng-Chang .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2008, 55 (11) :3964-3971

[14] Recurrent-neural-network-based adaptive-backstepping control for induction servomotors [J].

Lin, CM ;

Hsu, CF .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2005, 52 (06) :1677-1684

[15] Robust Lyapunov control with perturbation estimation [J].

Moura, JT ;

Olgac, N .

IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS, 1998, 145 (03) :307-315

[16] Adaptive Sliding-Mode Neuro-Fuzzy Control of the Two-Mass Induction Motor Drive Without Mechanical Sensors [J].

Orlowska-Kowalska, Teresa ;

Dybkowski, Mateusz ;

Szabat, Krzysztof .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2010, 57 (02) :553-564

[17] Robust fuzzy feedback linearisation controllers for Takagi-Sugeno fuzzy models with parametric uncertainties [J].

Park, C.-W. ;

Cho, Y.-W. .

IET CONTROL THEORY AND APPLICATIONS, 2007, 1 (05) :1242-1254

[18] Chattering-free sliding mode control for a class of nonlinear mechanical systems [J].

Parra-Vega, V ;

Hirzinger, G .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2001, 11 (12) :1161-1178

[19]

Pranayanuntana P, 2000, TENCON IEEE REGION, pB304

[20] ADAPTIVE ROBOT CONTROL USING NEURAL NETWORKS [J].

SAAD, M ;

BIGRAS, P ;

DESSAINT, LA ;

ALHADDAD, K .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1994, 41 (02) :173-181

← 1 2 3 →