Proxy-based sliding mode control: a safer extension of PID position control

Authors:
Ryo Kikuuwe;Satoshi Yasukouchi;Hideo Fujimoto;Motoji Yamamoto
Affiliations:
Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan;Yaskawa Electric Corporation, Kitakyushu, Japan and Department of Intelligent Machinery and Systems, Kyushu University, Fukuoka, Japan;Nagoya Institute of Technology, Nagoya, Japan;Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan
Venue:
IEEE Transactions on Robotics
Year:
2010

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Abstract

High-gain proportional-integral-derivative (PID) position control involves some risk of unsafe behaviors in cases of abnormal events, such as unexpected environment contacts and temporary power failures. This paper proposes a new position-control method that is as accurate as conventional PID control during normal operation, but is capable of slow, overdamped resuming motion without overshoots from large positional errors that result in actuator-force saturation. The proposed method, which we call proxy-based sliding mode control (PSMC), is an alternative approximation of a simplest type of sliding mode control (SMC), and also is an extension of the PID control. The validity of the proposed method is demonstrated through stability analysis and experimental results.