Implicit Implementation of Nonsmooth Controllers to Nonsmooth Actuators

This article presents an approach to implement a sliding-mode position controller to a plant equipped with a nonsmooth actuator. The actuator is modeled as a set-valued function from the control input and the velocity to the actuator force, which is motivated by quasi-static characteristics of hydra...

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Vydáno v:IEEE Transactions on Automatic Control Ročník 67; číslo 9; s. 4645 - 4657
Hlavní autoři: Kikuuwe, Ryo, Yamamoto, Yuki, Brogliato, Bernard
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York IEEE 01.09.2022
Institute of Electrical and Electronics Engineers (IEEE)
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Institute of Electrical and Electronics Engineers
Témata:
[MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC]
[SPI.AUTO] Engineering Sciences [physics]/Automatic
Actuators
Automatic
Controllers
Differential inclusions
Engineering Sciences
Force
Hydraulic actuators
Hydraulic equipment
implicit discretization
Licenses
Mathematics
Optimization and Control
Position control
Predictive models
set-valuedness
Sliding mode control
Stability analysis
Static characteristics
Valves
sliding-mode control
hydraulic actuators
implicit discretization
set-valuedness
differential inclusions
ISSN:0018-9286, 2334-3303, 1558-2523
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Popis
Shrnutí:This article presents an approach to implement a sliding-mode position controller to a plant equipped with a nonsmooth actuator. The actuator is modeled as a set-valued function from the control input and the velocity to the actuator force, which is motivated by quasi-static characteristics of hydraulic actuators shown in a previous study. The implementation of the sliding-mode controller is performed with the implicit discretization of the nominal plant model and the controller, which copes with the difficulties caused by the set-valuedness, such as numerical chattering. Stability analyses both in the continuous-time and discrete-time domains are presented. Simulation results illustrate the theoretical findings.
Bibliografie:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:0018-9286
2334-3303
1558-2523
DOI:10.1109/TAC.2022.3163124