Title :
Synthesis of variable structure system for the complex dynamic object
Author :
Lebedev, Alexander V. ; Filaretov, Vladimir F.
Author_Institution :
Inst. of Autom. & Control Processes, Vladivostok
Abstract :
The multi-channel variable structure system with the sliding mode for the centralized control of the spatial motion of the complex mechatronic object is synthesized in this paper. The conditions of the existences of stable sliding mode on the intersection of hyper-surfaces in the space of the system coordinates with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The new method of explosive control signals formation is developed. The application of control law proposed allow to provide the high control quality at any variations of the object parameters within the given ranges.
Keywords :
centralised control; control system synthesis; mechatronics; motion control; nonlinear control systems; robust control; variable structure systems; centralized robust control; complex mechatronic object spatial motion control; control law; multichannel variable structure system synthesis; nonstationary nonlinear dynamic object; sliding mode control; Automatic control; Control system synthesis; Control systems; Motion control; Nonlinear dynamical systems; Robot kinematics; Robotics and automation; Sliding mode control; Variable structure systems; Vehicle dynamics; Nonlinear Object; Robust Control; Sliding Mode; Variable Structure System;
Conference_Titel :
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-1263-1
Electronic_ISBN :
978-1-4244-1264-8
DOI :
10.1109/AIM.2007.4412471
