By Topic

Proxy-based sliding mode control for accurate and safe position control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kikuuwe, R. ; Nagoya Inst. of Technol. ; Fujimoto, H.

High-gain PID position control, which is widely used with industrial robots, involves some risks in cases of abnormal events, such as unexpected environment contacts and temporal power failures. This paper proposes a new position control method to achieve both accurate, responsive tracking during normal operation and smooth, overdamped recovery from a large positional error after abnormal events. The proposed method, which we call proxy-based sliding mode control, is a modified version of sliding mode control adapted to discrete-time systems, and also is an extension of PID control. The validity of the proposed method is demonstrated through experiments

Published in:

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference:

15-19 May 2006