The Development of Anti-Windup Scheme for Time Delay Control With Switching Action Using Integral Sliding Surface-Reference-Cited by-同舟云学术

The Development of Anti-Windup Scheme for Time Delay Control With Switching Action Using Integral Sliding Surface

Published:2003-12-01 Issue:4 Volume:125 Page:630-638
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Lee Sung-Uk¹,Chang Pyung Hun²

Affiliation:

1. Nuclear Robotics Laboratory, Korea Atomic Energy Research Institute, 150 Dujin-dong, Yusong-gu, Daejeon 305-353, Korea

2. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusong-dong, Yusong-gu, Daejeon 305-701, Korea

Abstract

The Time Delay Control with Switching Action (TDCSA) method, which consists of Time Delay Control (TDC) and a switching action of sliding mode control (SMC), has been proposed as a promising technique in the robust control area where the plant has an unknown dynamics with parameter variations and substantial disturbances are preset. When TDCSA is applied to the plant with saturation nonlinearity, however, the so-called windup phenomenon is observed to arise, causing excessive overshoot and instability. The integral element of TDCSA and the saturation element of a plant cause the windup phenomenon. There are two integral effects in TDCSA. One is the integral effect caused by time delay estimation of TDC. The other is the integral term of an integral sliding surface. To solve this problem, we have proposed an anti-windup scheme method for TDCSA. The stability of the overall system has been proved for a class of nonlinear system. Experimental results show that the proposed method overcomes the windup problem of the TDCSA.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/125/4/630/5531107/630_1.pdf

Reference10 articles.

1. Lee, S. U., and Chang, P. H., 2002, “Control of a Heavy-Duty Robotic Excavator Using Time Delay Control With Integral Sliding Surface,” Control Eng. Pract., 10(7), pp. 697–711.

2. Park, S. H., 2000, “Robust Controller and Observer Using Synthesis of TDE and Switching Action,” Ph.D. thesis, Korea Institute of Advanced Science and Technology.

3. Hsia, T. C., and Gao, L. S., 1990, “Robot Manipulator Control Using Decentralized Linear Time-Invariant Time-Delayed Joint Controllers,” Proc. of IEEE Conference on Robotics and Automation, pp. 2070–2075.

4. Youcef-Toumi, K., and Ito, O., 1990, “A Time Delay Controller for Systems With Unknown Dynamics,” ASME J. Dyn. Syst., Meas., Control, 112, pp. 133–141.

5. Slotine, J.-J. E., and Li, J.-J. E., 1991, Applied Nonlinear Control, Prentice-Hall International Editions, Chap. 7.

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