書誌事項
- タイトル別名
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- Switching Conttrol Algorithm with Reduced Conservativeness in Sliding-Mode Control
- スライディング モード セイギョ ニ オケル ホシュセイ オ カンワシタ キリカエ セイギョ
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This paper presents a design method of a switching control algorithm in which the conservativeness is reduced in sliding-mode control. In a conventional sliding-mode control system, the control input is switched so that a certain function can remain a Lyapunov one in spite of the presence of system uncertainties. However, the switching gain with conservativeness is generally derived due to the simplicity of the control algorithm. In this case, higher gain is required than is necessary. This situation is not suitable since it causes chattering in system inputs and/or steady state errors in system outputs. In this paper, a condition realizing a Lyapunov function is newly derived. Based on this result, a novel switching control algorithm with reduced conservativeness is proposed. The algorithm is also expanded to an output-tracking control problem. Finally, simulation results are given to illustrate the effectiveness of the proposed switching control algorithm.
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 73 (731), 2042-2048, 2007
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
- 1390282681362864384
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- NII論文ID
- 130004236455
- 120004288869
- 110006367761
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- HANDLE
- 10258/1231
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- NDL書誌ID
- 8903001
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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
- IRDB
- NDL
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- 抄録ライセンスフラグ
- 使用不可