Position and/or force controlling apparatus using sliding mode decoupling control

摘要

An interacting term existing in a control system is decoupled on the basis of a regular condition of a decoupling matrix. Then, an hyperplane sigma which has been obtained to satisfy the Lyapunov stability condition is designed. A control quantity is converged along the hyperplane sigma . In this case, even if uncertainty is generated in a C matrix for connecting a state variable x(t) and an output y(t) of an object to be controlled, it is possible to converge the control quantity while always satisfying the Lyapunov stability condition. A non-linear input gain ki (x,t) used in the control system is designed to be greater than a predetermined value when there is no uncertainty in the C matrix to satisfy the Lyapunov stability condition. Also, a control input signal based upon the sliding mode decoupling control is converted to an articulation torque by a Jacobian. Also, for the control input signal, reverse dynamics of non-linear force are added thereto. IMAGE