Motion controller algorithm based on sliding mode controller/observer scheme

Edi Leksono, Aris Wiiavanto, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, a combination of sliding mode controller as a motion controller and disturbance observer as a robust acceleration disturbance estimator is proposed as a scheme to obtain a high performance of robot motion controller. The use of disturbance observer will enable a simple and decoupled structure of the overall motion controller, -which is also robust against the effect of time varying parameters and system disturbance provided that the disturbance observer effectively rejects the influence of disturbance. To enhance the performance of the disturbance observer, sliding mode controller is introduced to the system. Any error caused by the lag of the disturbance observer response will be compensated by the outer loop controller which is realized by introducing sliding mode controller algoritm. The use of sliding mode controller based on reaching law will make the control algorithm simple such that it does not increase the complexity of the overall motion controller scheme. The effectiveness of the proposed scheme is verified through some simulation results.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE Computer Society
Pages1532-1537
Number of pages6
Volume1
DOIs
Publication statusPublished - 2000

Fingerprint

Controllers
Robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Leksono, E., Wiiavanto, A., & Ohnishi, K. (2000). Motion controller algorithm based on sliding mode controller/observer scheme. In IECON Proceedings (Industrial Electronics Conference) (Vol. 1, pp. 1532-1537). [972502] IEEE Computer Society. https://doi.org/10.1109/IECON.2000.972502

Motion controller algorithm based on sliding mode controller/observer scheme. / Leksono, Edi; Wiiavanto, Aris; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 1 IEEE Computer Society, 2000. p. 1532-1537 972502.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Leksono, E, Wiiavanto, A & Ohnishi, K 2000, Motion controller algorithm based on sliding mode controller/observer scheme. in IECON Proceedings (Industrial Electronics Conference). vol. 1, 972502, IEEE Computer Society, pp. 1532-1537. https://doi.org/10.1109/IECON.2000.972502
Leksono E, Wiiavanto A, Ohnishi K. Motion controller algorithm based on sliding mode controller/observer scheme. In IECON Proceedings (Industrial Electronics Conference). Vol. 1. IEEE Computer Society. 2000. p. 1532-1537. 972502 https://doi.org/10.1109/IECON.2000.972502
Leksono, Edi ; Wiiavanto, Aris ; Ohnishi, Kouhei. / Motion controller algorithm based on sliding mode controller/observer scheme. IECON Proceedings (Industrial Electronics Conference). Vol. 1 IEEE Computer Society, 2000. pp. 1532-1537
@inproceedings{b8ed2dd195fa4ff68dbeb531960e90c6,
title = "Motion controller algorithm based on sliding mode controller/observer scheme",
abstract = "In this paper, a combination of sliding mode controller as a motion controller and disturbance observer as a robust acceleration disturbance estimator is proposed as a scheme to obtain a high performance of robot motion controller. The use of disturbance observer will enable a simple and decoupled structure of the overall motion controller, -which is also robust against the effect of time varying parameters and system disturbance provided that the disturbance observer effectively rejects the influence of disturbance. To enhance the performance of the disturbance observer, sliding mode controller is introduced to the system. Any error caused by the lag of the disturbance observer response will be compensated by the outer loop controller which is realized by introducing sliding mode controller algoritm. The use of sliding mode controller based on reaching law will make the control algorithm simple such that it does not increase the complexity of the overall motion controller scheme. The effectiveness of the proposed scheme is verified through some simulation results.",
author = "Edi Leksono and Aris Wiiavanto and Kouhei Ohnishi",
year = "2000",
doi = "10.1109/IECON.2000.972502",
language = "English",
volume = "1",
pages = "1532--1537",
booktitle = "IECON Proceedings (Industrial Electronics Conference)",
publisher = "IEEE Computer Society",

}

TY - GEN

T1 - Motion controller algorithm based on sliding mode controller/observer scheme

AU - Leksono, Edi

AU - Wiiavanto, Aris

AU - Ohnishi, Kouhei

PY - 2000

Y1 - 2000

N2 - In this paper, a combination of sliding mode controller as a motion controller and disturbance observer as a robust acceleration disturbance estimator is proposed as a scheme to obtain a high performance of robot motion controller. The use of disturbance observer will enable a simple and decoupled structure of the overall motion controller, -which is also robust against the effect of time varying parameters and system disturbance provided that the disturbance observer effectively rejects the influence of disturbance. To enhance the performance of the disturbance observer, sliding mode controller is introduced to the system. Any error caused by the lag of the disturbance observer response will be compensated by the outer loop controller which is realized by introducing sliding mode controller algoritm. The use of sliding mode controller based on reaching law will make the control algorithm simple such that it does not increase the complexity of the overall motion controller scheme. The effectiveness of the proposed scheme is verified through some simulation results.

AB - In this paper, a combination of sliding mode controller as a motion controller and disturbance observer as a robust acceleration disturbance estimator is proposed as a scheme to obtain a high performance of robot motion controller. The use of disturbance observer will enable a simple and decoupled structure of the overall motion controller, -which is also robust against the effect of time varying parameters and system disturbance provided that the disturbance observer effectively rejects the influence of disturbance. To enhance the performance of the disturbance observer, sliding mode controller is introduced to the system. Any error caused by the lag of the disturbance observer response will be compensated by the outer loop controller which is realized by introducing sliding mode controller algoritm. The use of sliding mode controller based on reaching law will make the control algorithm simple such that it does not increase the complexity of the overall motion controller scheme. The effectiveness of the proposed scheme is verified through some simulation results.

UR - http://www.scopus.com/inward/record.url?scp=84969234021&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84969234021&partnerID=8YFLogxK

U2 - 10.1109/IECON.2000.972502

DO - 10.1109/IECON.2000.972502

M3 - Conference contribution

AN - SCOPUS:84969234021

VL - 1

SP - 1532

EP - 1537

BT - IECON Proceedings (Industrial Electronics Conference)

PB - IEEE Computer Society

ER -