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1. 发明授权

US06253120B1 Position and/or force controlling apparatus using sliding mode decoupling control 失效
标题翻译：使用滑动模式解耦控制的位置和/或力控制装置
公开(公告)号：US06253120B1
公开(公告)日：2001-06-26
申请号：US09067842
申请日：1998-04-27
申请人： Akira Shimada , Yoshinobu Ohtachi , Tsutomu Mita
发明人： Akira Shimada , Yoshinobu Ohtachi , Tsutomu Mita
IPC分类号： G05B1500
CPC分类号： G05B19/19 , B24B27/04 , B25J9/1646 , B25J11/0065 , G05B13/047 , G05B2219/39224 , G05B2219/39322 , G05B2219/39341 , G05B2219/42353 , Y02P90/265
摘要： An interacting term existing in a control system is decoupled on the basis of a regular condition of a decoupling matrix. Then, an hyperplane &sgr; which has been obtained to satisfy the Lyapunov stability condition is designed. A control quantity is converged along the hyperplane &sgr;. In this case, even if the uncertainty is generated in a C matrix for connecting a state variable x(t) and an output y(t) of an object to be controlled, it is possible to converge the control quantity while always satisfying the Lyapunov stability condition. A non-linear input gain ki (x,t) used in the control system is designed to be greater than a predetermined value when there is no uncertainty in the C matrix to satisfy the Lyapunov stability condition. Also, a control input signal based upon the sliding mode decoupling control is converted to an articulation torque by a Jacobian. Also, for the control input signal, reverse dynamics of non-linear force are added thereto.
摘要翻译：存在于控制系统中的交互项目是基于去耦矩阵的规则条件去耦合的。然后，设计了已经获得满足Lyapunov稳定条件的超平面sigma。控制量沿着超平面sigma收敛。在这种情况下，即使在用于连接待控制对象的状态变量x（t）和输出y（t）的C矩阵中产生不确定性，也可以收敛控制量，同时始终满足Lyapunov 稳定条件。当在C矩阵中不存在不确定性以满足Lyapunov稳定条件时，在控制系统中使用的非线性输入增益ki（x，t）被设计为大于预定值。此外，基于滑动模式解耦控制的控制输入信号通过雅可比转换为铰接转矩。此外，对于控制输入信号，向其添加非线性力的反向动力学。

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