3332 Application of Nonstationary Sliding Mode Control for Positioning with Shortening Reaching Time

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  • 3332 非定常スライディングモード制御を用いた到達時間短縮と位置決め問題への適用(メカニカルシステム(2))

Abstract

This paper presents a new design method of sliding mode controller with short reaching time by using the time-varying switching hyperplane. Sliding mode control is well known for its robustness to disturbance and uncertainties on the matching condition. When the reaching time is shortened, the controlled system becomes more robust, because it is only ensured on the sliding mode. The proposed method has two different points from the conventional methods. One is, that the state can arrive on the switching hyperplane to realize the desired dynamics under the low influence of the initial state. The other is, that the information of initial state is not necessarily given when the controller is designed. In order to realize such a controller, we use an optimal time-varying switching hyperplane. The weightings in criterion function are changed with time from approximate value of 0 to the appropriate value, since the value of initial switching function is minimal enough to shorten the reaching time. In this paper, the design method of non-stationary sliding mode controlled system is given, and its performance is verified through the numerical calculation for positioning control of second-order system.

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