Sliding modes in constrained systems control

Asif Šabanović, Meltem Elitas, Kouhei Ohnishi

Research output: Contribution to journalArticle

62 Citations (Scopus)

Abstract

In this paper, a sliding-mode-based design framework for fully actuated mechanical multibody system is discussed. The framework is based on the possibility to represent complex motion as a collection of tasks and to find effective mapping of the system coordinates that allows decoupling task and constraint control so one is able to enforce concurrently, or in certain time succession, the task and the constraints. The approach seems naturally encompassing the control of motion systems in interaction, and it allows application to bilateral control, multilateral control, etc. Such an approach leads to a more natural interpretation of the system tasks, simpler controller design, and easier establishment of the systems hierarchy. It allows a unified mathematical treatment of task control in the presence of constraints required to be satisfied by the system coordinates. In order to show the applicability of the proposed techniques, simulation and experimental results for high-precision systems in microsystem assembly tasks and bilateral control systems are presented.

Original languageEnglish
Pages (from-to)3332-3339
Number of pages8
JournalIEEE Transactions on Industrial Electronics
Volume55
Issue number9
DOIs
Publication statusPublished - 2008

Fingerprint

sliding
Control systems
Microsystems
decoupling
hierarchies
controllers
assembly
Controllers
simulation
interactions

Keywords

  • (SMC)
  • Bilateral control
  • Constrained multibody systems
  • Force control
  • Motion control
  • Nonlinear systems
  • Sliding mode control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Instrumentation

Cite this

Sliding modes in constrained systems control. / Šabanović, Asif; Elitas, Meltem; Ohnishi, Kouhei.

In: IEEE Transactions on Industrial Electronics, Vol. 55, No. 9, 2008, p. 3332-3339.

Research output: Contribution to journalArticle

Šabanović, Asif ; Elitas, Meltem ; Ohnishi, Kouhei. / Sliding modes in constrained systems control. In: IEEE Transactions on Industrial Electronics. 2008 ; Vol. 55, No. 9. pp. 3332-3339.
@article{b407574a780a42bcb28984e56825d4a3,
title = "Sliding modes in constrained systems control",
abstract = "In this paper, a sliding-mode-based design framework for fully actuated mechanical multibody system is discussed. The framework is based on the possibility to represent complex motion as a collection of tasks and to find effective mapping of the system coordinates that allows decoupling task and constraint control so one is able to enforce concurrently, or in certain time succession, the task and the constraints. The approach seems naturally encompassing the control of motion systems in interaction, and it allows application to bilateral control, multilateral control, etc. Such an approach leads to a more natural interpretation of the system tasks, simpler controller design, and easier establishment of the systems hierarchy. It allows a unified mathematical treatment of task control in the presence of constraints required to be satisfied by the system coordinates. In order to show the applicability of the proposed techniques, simulation and experimental results for high-precision systems in microsystem assembly tasks and bilateral control systems are presented.",
keywords = "(SMC), Bilateral control, Constrained multibody systems, Force control, Motion control, Nonlinear systems, Sliding mode control",
author = "Asif Šabanović and Meltem Elitas and Kouhei Ohnishi",
year = "2008",
doi = "10.1109/TIE.2008.928112",
language = "English",
volume = "55",
pages = "3332--3339",
journal = "IEEE Transactions on Industrial Electronics",
issn = "0278-0046",
publisher = "IEEE Industrial Electronics Society",
number = "9",

}

TY - JOUR

T1 - Sliding modes in constrained systems control

AU - Šabanović, Asif

AU - Elitas, Meltem

AU - Ohnishi, Kouhei

PY - 2008

Y1 - 2008

N2 - In this paper, a sliding-mode-based design framework for fully actuated mechanical multibody system is discussed. The framework is based on the possibility to represent complex motion as a collection of tasks and to find effective mapping of the system coordinates that allows decoupling task and constraint control so one is able to enforce concurrently, or in certain time succession, the task and the constraints. The approach seems naturally encompassing the control of motion systems in interaction, and it allows application to bilateral control, multilateral control, etc. Such an approach leads to a more natural interpretation of the system tasks, simpler controller design, and easier establishment of the systems hierarchy. It allows a unified mathematical treatment of task control in the presence of constraints required to be satisfied by the system coordinates. In order to show the applicability of the proposed techniques, simulation and experimental results for high-precision systems in microsystem assembly tasks and bilateral control systems are presented.

AB - In this paper, a sliding-mode-based design framework for fully actuated mechanical multibody system is discussed. The framework is based on the possibility to represent complex motion as a collection of tasks and to find effective mapping of the system coordinates that allows decoupling task and constraint control so one is able to enforce concurrently, or in certain time succession, the task and the constraints. The approach seems naturally encompassing the control of motion systems in interaction, and it allows application to bilateral control, multilateral control, etc. Such an approach leads to a more natural interpretation of the system tasks, simpler controller design, and easier establishment of the systems hierarchy. It allows a unified mathematical treatment of task control in the presence of constraints required to be satisfied by the system coordinates. In order to show the applicability of the proposed techniques, simulation and experimental results for high-precision systems in microsystem assembly tasks and bilateral control systems are presented.

KW - (SMC)

KW - Bilateral control

KW - Constrained multibody systems

KW - Force control

KW - Motion control

KW - Nonlinear systems

KW - Sliding mode control

UR - http://www.scopus.com/inward/record.url?scp=51449096404&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=51449096404&partnerID=8YFLogxK

U2 - 10.1109/TIE.2008.928112

DO - 10.1109/TIE.2008.928112

M3 - Article

AN - SCOPUS:51449096404

VL - 55

SP - 3332

EP - 3339

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

SN - 0278-0046

IS - 9

ER -