[vc_empty_space][vc_empty_space]
Motion controller algorithm based on sliding mode controller/observer scheme
Leksono E.a, Wiiavanto A.a, Ohnishi K.b
a Dept of Eng. Physics, ITB, Bandung, 40132, Indonesia
b Dept. of Systern Design Eng., Keio Univ., Kouhoku-ku Yokohama, Japan
[vc_row][vc_column][vc_row_inner][vc_column_inner][vc_separator css=”.vc_custom_1624529070653{padding-top: 30px !important;padding-bottom: 30px !important;}”][/vc_column_inner][/vc_row_inner][vc_row_inner layout=”boxed”][vc_column_inner width=”3/4″ css=”.vc_custom_1624695412187{border-right-width: 1px !important;border-right-color: #dddddd !important;border-right-style: solid !important;border-radius: 1px !important;}”][vc_empty_space][megatron_heading title=”Abstract” size=”size-sm” text_align=”text-left”][vc_column_text]© 2000 IEEE.In this paper, a combination of sliding mode controller as a motion controller and disturbance observer as a robust acceleration disturbance estimator is proposed as a scheme to obtain a high performance of robot motion controller. The use of disturbance observer will enable a simple and decoupled structure of the overall motion controller, -which is also robust against the effect of time varying parameters and system disturbance provided that the disturbance observer effectively rejects the influence of disturbance. To enhance the performance of the disturbance observer, sliding mode controller is introduced to the system. Any error caused by the lag of the disturbance observer response will be compensated by the outer loop controller which is realized by introducing sliding mode controller algoritm. The use of sliding mode controller based on reaching law will make the control algorithm simple such that it does not increase the complexity of the overall motion controller scheme. The effectiveness of the proposed scheme is verified through some simulation results.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Author keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Acceleration disturbances,Decoupled structures,Disturbance observer,Effect of time,Motion controller,Outer-loop controller,Sliding mode controller,System disturbances[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Indexed keywords” size=”size-sm” text_align=”text-left”][vc_column_text][/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Funding details” size=”size-sm” text_align=”text-left”][vc_column_text][/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”DOI” size=”size-sm” text_align=”text-left”][vc_column_text]https://doi.org/10.1109/IECON.2000.972502[/vc_column_text][/vc_column_inner][vc_column_inner width=”1/4″][vc_column_text]Widget Plumx[/vc_column_text][/vc_column_inner][/vc_row_inner][/vc_column][/vc_row][vc_row][vc_column][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][/vc_column][/vc_row]