POSITION AND/OR FORCE CONTROLLER USING SLIDING MODE NONINTERFERENCE CONTROL

摘要

PROBLEM TO BE SOLVED: To provide a position and force controller using sliding mode noninterference control which has the elasticity of a grinding surface on which a work is brought into contact with a grinding device and an uncertain friction coefficient and performs such robust controls as to cope with change even when unknown changes take place. ;SOLUTION: An interference term that exists in a control system is made noninterference based on a regular condition of a noninterference matrix. A hyerplane σ that is calculated to satisfy Liapunov safety condition is designed and a control amount is converged along the hyperplane σ. In such cases, nonlinear input gain ki (x, t) that is used for the control system is designed to be larger than a prescribed value when uncertainty of a C matrix does not exist until the Liapunov safety condition is satisfied so as to always satisfy the Liapunov safety condition and also to converge a control amount even if uncertainty occurs in the C matrix that connects a state amount x (t) and an output y (t) which are objects to be controlled.;COPYRIGHT: (C)1998,JPO