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Improved Velocity Feedback for Position Control by Using a Quadratic Sliding Mode Filter
Shanhai Jin,Ryo Kikuuwe,Motoji Yamamoto 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
In low-friction position-controlled devices, velocity feedback is required for a proportional-derivative (PD) controller to inject damping into these devices to remove low-frequency vibration. It is known that, in the case of using low resolution sensors, the velocity obtained through numerical differentiation is corrupted by high-frequency noise. Thus, the use of a PD controller results in high-frequency vibration in position control of devices of which sensor resolution and friction are both low. In previous papers, the authors proposed a new quadratic sliding mode filter. In this paper, we present experimental results to show the usefulness of this filter in position control of low-sensor-resolution, low-friction devices to improve velocity feedback.
Parameter Selection Procedure for an Amplitude- and Rate-saturated Controller
Nehal Baiomy,Ryo Kikuuwe 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.4
This paper presents a selection procedure to obtain parameter values of the authors’ previously proposedamplitude- and rate-saturated controller. This controller employs a state-dependent parameter that enlarges theregion of attraction when the state is far from the origin and shrinks the finite-time attractor when the state is close tothe origin. The proposed selection procedure involves a set of linear matrix inequalities and also includes iterativecomputation. Two numerical examples for stable and unstable systems show the effectiveness of the proposedselection procedure.
Gyuho Byun,Ryo Kikuuwe 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.12
This paper proposes a new sliding mode differentiator combined with a sliding mode filter for estimating first and second-order derivatives of noisy signals. The proposed differentiator can be seen as a version of Slotine et al.’s sliding mode observer extended with an additional non-Lipschitz property, which is intended to realize a faster reaching to the sliding mode. It behaves as a noise-reduction filter that is composed of first, second and third-order low-pass filter in the sliding mode, but also employs the filter that is composed of second, third and fourth-order low-pass filter out of the sliding mode. Moreover, the differentiator effectively removes impulsive noises by combining a sliding mode filter and its discrete-time implementation is based on the implicit (backward) Euler discretization, which does not result in chattering and realizes the exact sliding mode. Experiments show that the proposed algorithm has a better balance between the noise attenuation and small phase lag than the linear-filtered Euler differentiation and previous sliding mode differentiators. It was validated through experiments using optical encoder signals of industrial robots.