文章基本信息
- 标题：Integration of PD-type Iterative Learning Control with Adaptive Sliding Mode Control
- 本地全文：下载
- 作者：Armin Norouzi ; Charles Robert Koch
- 期刊名称：IFAC PapersOnLine
- 印刷版ISSN：2405-8963
- 出版年度：2020
- 卷号：53
- 期号：2
- 页码：6213-6218
- DOI：10.1016/j.ifacol.2020.12.1717
- 语种：English
- 出版社：Elsevier
- 摘要：AbstractProportional-Derivative type Iterative Learning Controller (PD-ILC) is combined with an Adaptive Sliding Mode Controller (ASMC) using a plug-in structure to a rotary pendulum. The ASMC adaptation law is used to update a switching gain of sliding surface in Sliding Mode Control (SMC) controller. The proposed hybrid controller stability and convergence are mathematically shown and then experimentally demonstrated using two-degree-of-freedom (2-DOF) Quanser© QUBETMServo 2 Rotary Pendulum. Results illustrate that adaptation law helps the controllers to achieve higher accuracy tracking performance compared to the classic SMC controller. Based on the experimental results, the hybrid control of PD-ILC and ASMC has faster and more accurate tracking results than ILC controller indicating the combined controller has better performance than the individual controllers.
- 关键词：KeywordsIterative Learning ControlSliding Mode ControlAdaptive ControlRobotic PendulumHybrid Control
