Title :
Force control for unknown environment using sliding mode controller with gain-scheduled variable hyperplane
Author :
Iwasaki, Masahiro ; Tsujiuchi, Nobutaka ; Koizumi, Takayuki
Author_Institution :
Doshisha Univ., Kyoto, Japan
Abstract :
In this paper, a new type of sliding mode controller with gain-scheduled variable hyper plane for position and force control is presented. In this controller, the hyper plane in sliding mode controller is continuously adjusted according to the environmental stiffness identified in real time. This controller is applied to force control using a one-degree-of-freedom manipulator system, and the performance of this controller is verified by both simulation and experiments.
Keywords :
control system synthesis; force control; manipulators; position control; variable structure systems; DC motor actuator; control system design; environmental stiffness; force control; gain-scheduled variable hyperplane; hyper plane; one-degree-of-freedom manipulator system; position control; sliding mode controller; unknown environment control; Contacts; Control systems; Equations; Force control; Impedance; Motion control; Sliding mode control; Switches; Uncertain systems; Uncertainty;
Conference_Titel :
IECON 02 [Industrial Electronics Society, IEEE 2002 28th Annual Conference of the]
Print_ISBN :
0-7803-7474-6
DOI :
10.1109/IECON.2002.1185246
