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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Shichijo, M. Oguro, R. |
| Copyright Year | 2007 |
| Description | Author affiliation: Kyushu Inst. of Technol., Fukuoka (Shichijo, M.) |
| Abstract | In this paper, we propose an efficient control method with a sliding mode technique to realize a high-precision and a high-speed positioning control. This method makes a response of a real system follows the reference precisely even under the condition that the modeling errors exist between the numerical feed forward model and the real system. A model following control is used to generally recognize as a high performance positioning. But, ordinary there are several modeling errors existing between the numerical model and the real system. We pick up a mass error and a dynamical friction error. In this proposal method, we assign two places non-linear gains. One non-linear gain is the gain of the velocity reference from the feed forward part and the other is the gain of the force reference. As we use this method, a feed forward loop and a feed back loop are not changed. So, this method has no influence on the stability. In this proposal method, the gains are decided with a phase plane of a sliding mode control. |
| Starting Page | 1271 |
| Ending Page | 1274 |
| File Size | 961835 |
| Page Count | 4 |
| File Format | |
| ISBN | 9784907764272 |
| DOI | 10.1109/SICE.2007.4421179 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2007-09-17 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | SICE |
| Subject Keyword | Sliding mode control Feeds Numerical models Proposals Friction Error correction Control systems Force feedback Computer science Systems engineering and theory Positioning control Model following control Phase plane |
| Content Type | Text |
| Resource Type | Article |
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