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Position and/or force controlling apparatus using sliding mode decoupling control
Position and/or force controlling apparatus using sliding mode decoupling control
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机译:使用滑模解耦控制的位置和/或力控制设备
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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 which has been obtained to satisfy the Lyapunov stability condition is designed. A control quantity is converged along the hyperplane . In this case, even if the 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.
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机译:控制系统中存在的相互作用项根据解耦矩阵的规则条件解耦。然后,设计了已经获得的满足李雅普诺夫稳定性条件的超平面。控制量沿超平面收敛。在这种情况下,即使在用于连接状态变量x(t)和要控制的对象的输出y(t)的C矩阵中生成不确定性,也可以收敛控制量,而始终满足李雅普诺夫稳定条件。控制系统中使用的非线性输入增益k i Sub>(x,t)设计为在C矩阵中没有不确定性以满足Lyapunov稳定性条件时大于预定值。而且,基于滑动模式解耦控制的控制输入信号通过雅可比行列式转换为铰接扭矩。同样,对于控制输入信号,非线性力的反向动力学被添加到其上。
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