Professional Documents
Culture Documents
Wan-Jung Chiou
Ming-Tzu Ho
I.
INTRODUCTION (HEADING 1)
II.
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ym
f f2
G
fy
L
y
fx
G
f3
xm
L
f1
1 sin(G ) sin(G )
0 cos(G ) cos(G ) .
L
L
L
Bk
Since
Fx cos I sin I f x
,
F
y sin I cos I f y
and from (3), we obtain
xm , ym : moving frame
X , Y : world frame
axw
a
yw
I
f1
H Rm Bk f 2 ,
f 3
w
(4)
where
cos(I ) sin(I ) 0
Rm sin(I ) cos(I ) 0 .
0
1
0
Based on geometrical relationships, we have kinematic velocity
equations:
xw
y
w
I
T1
T1
R (( Rm Bk ) ) T 2 T (I ) T2 ,
T3
T3
w
T 1
(5)
where
Fx
H Fy ,
M
(1)
where
Mt
0
1
Mt
0
0 ,
I z
fx
Wm
(2)
M Lf1 Lf 2 Lf 3 .
For notational convenience, (2) is written in the following form
fx
f
y
M
f1
Bk f 2 ,
f 3
3 sin(I ) cos(I )
3
3 cos(I ) sin(I )
3
1
3L
3 sin(I ) cos(I )
3 cos(I ) sin(I )
.
3
3L
xw
axw
a .
yw yw
From Fig. 1, f x , f y and M are given by
fy
2 cos(I )
3
2sin(I )
T (I ) R
3
1
3L
(3)
Kt
K2
u t Zm ,
Ra
Ra
(6)
u1
Kt Kt 2
u2
Rw Ra Rw Ra
u3
T1
T .
2
T3
(8)
From (4), (5), and (8), the dynamics of the robot in the world
frame can be written as
where
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P
w
Aw Pw Bw (I )U C ,
(9)
where
> xw
>u1
Pw
UC
a1
0
Aw
Bw (I )
ws0
(21)
[ f ( x) B( x)u0 ].
wx
To guarantee the state trajectories to be confined on the sliding
surface starting from the initial instant, from (18), we can
choose zs (0) as follow
yw I @ ,
0
a1
0
u3 @ ,
T
0
0 ,
a2
2b1 cos(I ) b1 cos(I ) 3b1 sin(I ) b1 cos(I ) 3b1 sin(I )
2b1 sin(I ) b1 sin(I ) 3b1 cos(I ) b1 sin(I ) 3b1 cos(I ) ,
b2
b2
b2
a1
3K t 2
, a2
2 Rw2 M t Ra
3K t 2 L2
, b1
Rw2 I z Ra
Kt
.
2 Rw M t Ra
III.
zs
u2
z s (0) s0 ( x(0)).
According to (18), (21) and (22), we obtain
s0 ( x) s0 ( x(0))
(23)
ws0 ( x)
[ f ( x(W )) B( x(W ))u0 (W )]dW .
wx
In order to confine the system states on the sliding surface and
eliminate the external disturbance and noise effectively, u1 is
chosen as
u1
f ( x) B ( x)u d ( x, t ),
(10)
d mi Ui , i 1, ! , m ,
] sgn( s ) ,
(24)
d ( x, t ) B ( x ) d m , d m R m .
Moreover, we assume d m are bounded
(22)
IV.
(11)
Aw Pw Bw (I )U C .
(28)
Let
Pdes (t )
(12)
> xdes (t )
ydes (t ) Ides (t )@
(13)
u u0 u1
where u0 is the ideal control input. In general, u0 can be
obtained by LQR control, PID control, pole placement or other
control laws. u1 is a discontinuous control which is designed to
force the system to constrain states trajectories on the sliding
surface and to eliminate the external disturbance. The sliding
function is chosen as
then
s0 ( x) zs ,
(18)
ws0
[ f ( x) B( x)(u d m )] zs .
wx
(20)
e(t )
Pdes (t ) Pw (t ),
P
.
e P
des
w
From (28) and (31), we have
e
[ A P B (I )U ].
P
des
w w
w
C
(29)
(30)
(31)
(32)
By choosing
[ A P B (I )U ] ,
UP
(33)
des
w w
w
C
the tracking error dynamics become linear and can be written
as follow
d e 0 I e 0
U.
dt e 0 0 e I
From (33), the state feedback control law is
UC
A P U ].
Bw (I ) 1[ P
des
w w
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(34)
(35)
H e,
U K p e K d e K i H .
From equation (35), the system control input is
UC
A P K e K e K H ].
Bw (I ) 1[ P
d
w w
p
d
i
U1 x
(50)
(37)
Kx ! d x ,
e U d ,
where d are the perturbations and
K x sgn( sx ) .
(36)
(42)
dx
(43)
d y ,
dI
where d x , d y , and dI are the perturbations in the X axis,
Y axis, and I , respectively. Moreover, the control input U is
defined as
(51)
K px ex K dx ex K x sat(
sx
IIx
).
(52)
U x
(44)
U U y
U I
where U x , U y , and U I are the control input to the X axis,
Y axis, and I , respectively. According to (42), we can rewrite
the tracking error dynamic equations as
V.
SYSTEM IMPLEMENTATION
0
d e 0 I e 0
(45)
U d
dt e 0 0 e I
I
With respect to the identical structure of controllers for the
X axis, Y axis, and I . In the following only the controller for
X axis will be discussed. The tracking error dynamic equations
of X axis is given by
0
d ex 0 1 ex 0
(46)
e 0 0 e 1 U x 1 d x ,
dt x
x
where ex is the tracking error in the X axis. According to the
design of integral sliding mode control, we first use the PD
control law for the ideal system, i.e., without perturbations. The
PD controller is given as
U0x
K px ex K dx ex ,
(47)
sx
(48)
ex K dx ex K px ex (W ) dW
0
(49)
Figure 3. Schematic overview of the experimental setup.
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VI.
0.9
Command
0.2
0.1
-0.1
-0.2
PID
ISMC
-0.3
-0.3
-0.2
-0.1
0.1
0.2
0.3
0.8
0.7
0.6
0.5
0.4
0.08
0.06
0.04
0.02
0
-0.02
0.3
0.2
0.1
0
-0.1
-0.2
-0.1
0.1
0.2
0.3
0.4
0.5
0.6
0.08
0.06
0.04
0.02
0
-0.02
0.7
10
5
0
-5
-10
-15
error of X
0.1
0.05
error of X
0.5
1.5
2.5
3.5
2.5
3.5
2.5
3.5
error of Y
0.5
1.5
0.5
1.5
error of I
0
-0.05
-0.1
0.5
1.5
2.5
3.5
error of Y
0.15
0.1
0.05
0
-0.05
30
20
10
0
-10
-20
0.5
0.5
1.5
1.5
error of I
2.5
2.5
3.5
3.5
xdes
Here, we set a
0.2 cos(0.5S t ) (m),
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3
2
1
0
-1
-2
-3
0.9
0.8
0.7
0.6
0.5
3
2
1
0
-1
-2
-3
0.4
0.3
0.2
0.1
0
x 10
-3
1
x 10
error of X
1.5
-3
1.5
3.5
2.5
3.5
3.5
error of I
-0.1
2.5
error of Y
0.5
-0.2
-0.1
0.1
0.2
0.3
0.4
0.5
0.6
0.7
-0.5
1.5
2.5
4
3
2
1
0
-1
3
2
x 10
-3
1.5
x 10
VII. CONCULSIONS
error of X
2.5
-3
3.5
3.5
error of Y
1
0
-1
1.5
1
0.5
0
-0.5
-1
1.5
2.5
error of I
1.5
2.5
3.5
[2]
[3]
0.3
Command
[4]
0.2
[5]
0.1
[6]
-0.1
[7]
-0.2
-0.3
-0.3
PID
ISMC
-0.2
-0.1
0.1
0.2
0.3
[8]
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