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

fYear

2007

fDate

4-7 Sept. 2007

Firstpage

1

Lastpage

5

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/AIM.2007.4412471

Filename

4412471