Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 26, Issue 4, Pages 670-683Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2010.2051188
Keywords
Position control; proportional-integral-derivative (PID) control; safety; saturation; sliding mode control (SMC)
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High-gain proportional-integral-derivative (PID) position control involves some risk of unsafe behaviors in cases of abnormal events, such as unexpected environment contacts and temporary power failures. This paper proposes a new position-control method that is as accurate as conventional PID control during normal operation, but is capable of slow, overdamped resuming motion without overshoots from large positional errors that result in actuator-force saturation. The proposed method, which we call proxy-based sliding mode control (PSMC), is an alternative approximation of a simplest type of sliding mode control (SMC), and also is an extension of the PID control. The validity of the proposed method is demonstrated through stability analysis and experimental results.
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