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Abstract
Estimation of Velocity and Acceleration by Nonlinear Filter
Based on Sliding Mode and Application to Control System
Takanori Emaru, Kazuo Imagawa, Yohei Hoshino and Yukinori Kobayashi
Journal of Robotics and MechatronicsC
accepted (2009).
Abstract
Proportional-Integral-Derivative (PID) control is commonly
used to operate mechanical systems.
In PID control, however, there are limits to the accuracy of
the resulting performance because of the influence of gravity,
friction, and interaction of joints caused by modeling errors.
Digital acceleration control is robust in relation to modeling errors,
and is superior to PID control.
However the need for knowledge of the position, velocity,
and acceleration is a constraint on the development of digital
acceleration control.
To overcome this limitation, this report introduces a system
that estimates smoothed and differential values by a sliding mode,
ESDS (Estimated Smoothed Differential Sliding).
Using ESDS enables digital acceleration control
without increasing the number of sensors over that used in PID control.
This paper focus on the influence of gravity because the digital
acceleration control can cancel the influence of them in principle.
This characteristic enables mechanical systems
to control appropriately under attitude variations.
This paper shows the results
of the proposed control method using 1-link and 2-link manipulators.
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Takanori Emaru F
(c) Laboratory of Robotics and Dynamics, Hokkaido University