Integral variable-structure control with variable-structure sliding dynamics for antireset windup

Abstract

This paper proposes a scheme of integral variable-structure control with variable-structure sliding dynamics, referred to as VSSD-IVSC, based on the framework of the so-called global sliding-mode control (GSMC) technique. Previous GSMC schemes encompass the robust eigenvalue-assignment GSMC (REA-GSMC) and the integral variable-structure control (IVSC). All GSMC schemes feature the insurance of existence of a sliding mode throughout an entire response for performance robustness. It is shown in this paper that both REA-GSMC and IVSC lead to the same robust tracking performance in theory. In practical implementations the IVSC has better steady-state error characteristics than the REA-GSMC. However, due to control saturation, the IVSC may suffer from the integrator windup problem common to control methods with integral compensation. The VSSD-IVSC scheme is proposed to combine the REA-GSMC and the IVSC using the GSMC framework, and it has variable-structure sliding dynamics for antireset windup. Experiments were conducted on a two-link direct-drive manipulator to demonstrate the effectiveness of the proposed scheme.

Keywords

sliding-mode control integral variable-structure control integrator windup

Get full access to this article

View all access options for this article.

References

Habibi

S. R.

Richards

R. J.

Sliding mode control of an electrically powered industrial robot. IEE P.-Control Theory Applics, 1978, 139, 207–225.

Young

K.-K. D.

Controller design for a manipulator using theory of variable structure systems. IEEE Trans. Systems Man Cyber., 1978, 8, 101–109.

Slotine

J.-J. E.

Sastry

S. S.

Tracking control of nonlinear systems using sliding surfaces with application to robot manipulators. Int. J. Control, 1983, 38, 465–492.

Y. S.

Chen

J. S.

Design of a global sliding mode controller for robot manipulator with robust tracking capability. Proc. Natl Sci. Council — Part A: Phys. Sci. Engng, 1994, 18(5), 463–476.

Y. S.

Chen

J. S.

A global sliding mode controller design for motor drives with bounded control. Int. J. Control, 1995, 62(5), 1001–1019.

Choi

H. S.

Park

Y. H.

Cho

Lee

Global sliding-mode control: Improved design for a brush-less DC motor. IEEE Control Syst. Mag., 2001, 21(3), 27–35.

Tai

T. L.

Y. S.

Global sliding mode control with chatter alleviation for robust eigenvalue assignment. Proc. IMeehE, Part I: J. Systems and Control Engineering, 2006, 220(I7), 573–584.

Slotine

J.-J. E.

The robust control of robot manipulators. Int. J. Robotics Res., 1985, 4, 49–64.

Chern

T. L.

Y. C.

Design of integral variable structure controller and application to electrohydraulic velocity servosystems. IEE P.-Control Theory Applics, 1991, 138, 439–444.

10.

Chern

T. L.

Y. C.

Integral variable structure control approach for robot manipulators. IEE P.-Control Theory Applics, 1992, 139, 161–166.

11.

Chern

T. L.

Y. C.

Design of brushless DC position servo systems using integral variable structure approach. IEE P.-Control Theory Applics, 1993, 140, 27–34.

12.

Cho

Kato

Spilman

Sliding mode and classical controller in magnetic levitation systems. IEEE Control Syst. Mag., 1993, 13, 42–48.

13.

Chang

J. L.

Output regulation for MIMO linear systems using integral variable structure control. Jap. Soc. Mech. Engrs Int. J. Ser. C, 2001, 44(2), 215–225.

14.

Lee

J. H.

Highly robust position control of BLDDSM using an improved integral variable structure system. Automatica, 2006, 42, 929–935.

15.

Slotine

J.-J. E.

Applied nonlinear control, 1991 (Prentice-Hall, Englewood Cliffs, New Jersey).

16.

Seshagiri

Khalil

H. K.

On introducing integral action in sliding mode control. In Proceedings of the 41st Conference on Decision and control, Las Vegas, Nevada, 10–13 December 2002, pp. 1473–1478.

17.

Ang

K. H.

Chong

G. C. Y.

PID control system analysis and design. IEEE Control Syst. Mag., 2006, 26(1), 32–41.