Time-delay control with switching action using a frequency-shaped integral sliding surface

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• 作者：Sung Uk Lee (1)
  
• 关键词：Time ; delay control ; Switching action ; Frequency ; shaped ; Integral sliding surface ; Flexible arm
• 刊名：International Journal of Precision Engineering and Manufacturing
• 出版年：2014
• 出版时间：September 2014
• 年：2014
• 卷：15
• 期：9
• 页码：1809-1815
• 全文大小：473 KB
• 参考文献：1. Lee, S. U. and Chang, P. H., 鈥淐ontrol of a Heavy-Duty Robotic Excavator using Time Delay Control with Integral Sliding Surface,鈥?Control Engineering Practice, Vol. 10, No. 7, pp. 697鈥?11, 2002. CrossRef
  2. Lee, S. U. and Chang, P. H., 鈥淭he Development of Anti-Windup Scheme for Time Delay Control with Switching Action using Integral Sliding Surface,鈥?Journal of Dynamic Systems, Measurement, and Control, Vol. 125, No. 4, pp. 630鈥?38, 2003. CrossRef
  3. Youcef-Toumi, K. and Ito, O., 鈥淎 Time Delay Controller for Systems with Unknown Dynamics,鈥?Journal of Dynamic Systems, Measurement, and Control, Vol. 112, No. 1, pp. 133鈥?42, 1990. CrossRef
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  5. Koshkouei, A. J. and Zinober, A., 鈥淩obust Frequency Shaping Sliding Mode Control,鈥?Proc. of IEE Conference on Control Theory and Applications, Vol. 147, No. 3, pp. 312鈥?20, 2000. CrossRef
  6. Moura, J. T., Roy, R. G., and Olgac, N., 鈥淔requency-Shaped Sliding Modes: Analysis and Experiments,鈥?IEEE Transactions on Control Systems Technology, Vol. 5, No. 4, pp. 394鈥?01, 1997. CrossRef
  7. David Young, K. and 脰zg眉ner, 脺., 鈥淔requency Shaping Compensator Design for Sliding Mode,鈥?International Journal of Control, Vol. 57, No. 5, pp. 1005鈥?019, 1993. CrossRef
  8. Gupta, N. K., 鈥淔requency-Shaped Cost Functionals-Extension of Linear-Quadratic-Gaussian Design Methods,鈥?Journal of Guidance, Control, and Dynamics, Vol. 3, No. 6, pp. 529鈥?35, 1980. CrossRef
  9. Mehta, A. J. and Bandyopadhyay, B., 鈥淔requency-Shaped Sliding Mode Control using Output Sampled Measurements,鈥?IEEE Transactions on Industrial Electronics, Vol. 56, No. 1, pp. 28鈥?5, 2009. CrossRef
  10. Anderson, B. D. O., Moore, J. B., and Mingori, D., 鈥淩elations between FrequencyDependent Control and State Weighting in LQG Problems,鈥?Optimal Control Applications and Methods, Vol. 8, No. 2, pp. 109鈥?27, 1987. CrossRef
  11. De Luca, A. and Siciliano, B., 鈥淛oint-based Control of a Nonlinear Model of a Flexible Arm,鈥?Proc. of American Control Conference, pp. 935鈥?40, 1988.
  
• 作者单位：Sung Uk Lee (1)
  
  1. Nuclear Applications Technology Development Department, Korea Atomic Energy Research Institute, Daejeon, 305-353, South Korea
  
• ISSN：2005-4602

文摘

The Time Delay Control with switching Action (TDCSA) method was recently proposed as a promising technique in a robust control area, where a plant has unknown dynamics with parameter variations and substantial disturbances are present. When TDCSA is applied to a nonlinear system with frequency resonances, TDCSA reveals a chattering problem or an undesired vibration. This undesired vibration and chattering problem comes from the switching action and high gains. Fast sliding mode dynamics or fast desired error dynamics improve the control performance, but excite the un-modeled resonance modes and cause an undesired vibration or chattering. To solve this problem, we proposed an integral sliding surface design method using frequency-shaping features. This method incorporates frequency-shaping LQ design techniques into an integral sliding surface. In this paper, the stability analysis of TDCSA using a frequency-shaped integral sliding surface is analyzed. Based on the experimental results, the frequency-shaped integral sliding surface was shown to be practicable for a single-link flexible arm. Motion control of a single-link flexible arm with un-modeled flexible modes was taken into account. The desired trajectory was tracked while minimally exciting the un-modeled flexible modes.