Integral Sliding Mode Control with Anti-windup Compensation and its Application to a Power Assist System

Yokoyama, Makoto; Kim, Seong Jae; Tsuchiya, Masahiko

doi:10.1177/1077546309106143

Cited by 25 publications

(16 citation statements)

References 12 publications

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“…In parallel distributed compensation (PDC) the structure of the FC model matches the structure of the fuzzy model of P given in (11). Considering the absence of the blocks RB and ZEI, the PDC controller for the system (11) is:…”

Section: Models Of State Feedback Sliding Mode and Fuzzy Control Systemsmentioning

confidence: 99%

“…A static anti-windup compensator for linear sliding mode controllers is designed in [10] on the basis of Linear Matrix Inequality (LMI) conditions derived from Lyapunov stability and L2-gain performance. The switching function of sliding mode controllers is modified in [11] to reduce the discontinuous component of the control signal during saturation. An adaptive anti-windup PID sliding mode scheme is proposed in [12].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Unified Anti-Windup Technique for Fuzzy and Sliding Mode Controllers

Precup¹,

Tomescu²,

Petriu³

2015

INT J COMPUT COMMUN

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This paper proposes the unified treatment of an anti-windup technique for fuzzy and sliding mode controllers. A back-calculation and tracking anti-windup scheme is proposed in order to prevent the zero error integrator wind-up in the structures of state feedback fuzzy controllers and sliding mode controllers. The state feedback sliding mode controllers are based on the state feedback-based computation of the switching variable. An example that copes with the position control of an electro-hydraulic servo-system is presented. The conclusions are pointed out on the basis of digital simulation results for the state feedback fuzzy controller.

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Section: Models Of State Feedback Sliding Mode and Fuzzy Control Systemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Unified Anti-Windup Technique for Fuzzy and Sliding Mode Controllers

Precup¹,

Tomescu²,

Petriu³

2015

INT J COMPUT COMMUN

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show abstract

“…In Santiban˜ez et al, 16 a continuously differentiable saturation function was used and a global analysis is presented. More recently, in Yokoyama et al, 17 a variable structure controller which uses a switching function to reduce the control action during saturation was proposed.…”

Section: Introductionmentioning

confidence: 99%

A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators

Salinas

Moreno–Valenzuela

Kelly

2016

Advances in Mechanical Engineering

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This article addresses the joint position control of torque-driven robot manipulators under actuators subject to torque saturation. Robots having viscous friction, but without gravity vector, are considered. By assuming a static model for the torque actuator (specifically, a model of nonlinear and non-differentiable hard saturation function), a family of nonlinear proportional-integral-derivative-like controllers is proposed. Lyapunov stability theory is used to establish conditions for local asymptotic stability of the closed-loop system. A notable feature of the proposed controller is that stability conditions do not depend on the saturation levels of the actuators. In addition, an experimental study complements the proposed theory.

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“…Shi et al (2008) have compared traditional Sliding Mode Control and ISMC through simulation for a two-link rigid manipulator. Makoto et al (2010) have applied the ISMC to a power-assisted manipulator with a single degree of freedom through simulation and experiment. Eker and Akinal (2008) have suggested a similar scheme using an integral sliding surface in combination with the conventional sliding mode control.…”

Section: Introductionmentioning

confidence: 99%

Realisation of model reference compliance control of a humanoid robot arm via integral sliding mode control

Khan

Jalani

2016

Mech. Sci.

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Abstract. Human safety becomes critical when robot enters the human environment. Compliant control can be used to address some safety issues in human-robot physical interaction. This paper proposes an integral sliding mode controller (ISMC) based compliance control scheme for the Bristol Robotics Laboratory's humanoid BERT II robot arm. Apart from introducing a model reference compliance controller, the ISMC scheme is aimed to deal with the robot arm dynamic model's inaccuracies and un-modelled nonlinearities. The control scheme consists of a feedback linearization (FL) and an ISMC part. In addition, a posture controller has been incorporated to employ the redundant DOF and generate human like motion. The desired level of compliance can be tuned by selecting the stiffness and damping parameters in the sliding mode variable (compliance reference model). The results show that the compliant control is feasible at different levels for BERT II in simulation and experiment. The positioning control has been satisfactorily achieved and nonlinearities and un-modelled dynamics have been successfully overcome.

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Integral Sliding Mode Control with Anti-windup Compensation and its Application to a Power Assist System

Cited by 25 publications

References 12 publications

A Unified Anti-Windup Technique for Fuzzy and Sliding Mode Controllers

A Unified Anti-Windup Technique for Fuzzy and Sliding Mode Controllers

A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators

Realisation of model reference compliance control of a humanoid robot arm via integral sliding mode control

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