Ultrafine manipulation considering input saturation using proxy-based sliding mode control

Fumito Nishi, Seiichiro Katsura

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

Medical technology and bioengineering have achieved great progress recently. The main reasons are the technique and manipulation system in order to operate the cell directly, but the operational force can not be fedback to the operators. Macro-micro bilateral control is the method for force transmission between operator and target object. However, in macro-micro bilateral control, the reference values to the actuator often become too large due to the controller with high gain and scaling factor. Then, the wind-up phenomenon happens due to the actuator-force saturation and undesired and dangerous behavior might occur. To solve this problem, this paper proposes macro-micro bilateral control using the proxy-based sliding mode control. Proxy-based sliding mode control is the method that simple sliding mode control and PID or PD are combined. PSMC is one of the anti-windup method because the saturation function is equivalently considered in the control algorithm. The force saturation can be avoided by using PSMC. The validity of the proposed method is verified by the experimental results.

本文言語English
ホスト出版物のタイトルProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ547-552
ページ数6
ISBN(電子版)9781479936335
DOI
出版ステータスPublished - 2015 4 9
イベント2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
継続期間: 2015 3 62015 3 8

出版物シリーズ

名前Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period15/3/615/3/8

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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