書誌事項
- タイトル別名
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- Discrete Time Reference Model Following Frequency-Shaped Sliding Mode Control with Pre-Filter for Hydraulic Manipulator
- ユアツ マニピュレータ ノ リサン ジカン キハン モデル ツイジュウケイ ニュウリョクタン シュウハスウ セイケイ スライディング モード セイギョ
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In the position and trajectory tracking control of hydraulic manipulators, it is difficult to obtain desired performance due to its nonlinearity, for instance, variation of the moment of inertia, the unsymmetrical effect of single rod cylinders, dead zone of the hydraulic control valve, time delay of hydraulic system and mechanical resonances. Therefore, application of a robust control system to the nonlinearity and disturbance is desired. Sliding mode control has strong robustness to parameter change and disturbance. Moreover model following control prevents the dynamic characteristics of plant to follow a reference model which has ideal characteristics. Then, by feedback of estimated disturbance from VSS disturbance observer in the inner loop, the response of the system is improved. Moreover sliding mode control with frequency shaping suppresses spillover of mechanical resonances. Therefore, we design a discrete-time reference model following frequency-shaped sliding mode controller with pre-filter, which combines the advantages of these control theories. In this paper, it is shown that our control method can improve trajectory tracking performance and robustness of hydraulic manipulators in experiments and simulations.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 74 (742), 1459-1468, 2008
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001206387652352
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- NII論文ID
- 110006793583
- 130004236727
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL書誌ID
- 9560478
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可