2024-03-29T10:57:27Z
https://niigata-u.repo.nii.ac.jp/oai
oai:niigata-u.repo.nii.ac.jp:00003760
2022-12-15T04:35:30Z
423:424:425
453:454
Sliding Mode Control Electric Power Assist Systems
電動パワーアシスト装置のスライディングモード制御
横山, 誠
45184
川崎, 貴史
45185
土屋, 雅彦
45186
Power Assist
Sliding Mode Control
Reaching Phase
Nonlinear Control
Robust Control
Servo Mechanism
This paper presents a nonlinear controller for electric power assist systems based on the sliding mode control. The proposed sliding mode controller is designed to achieve desired nonlinear properties including gravitational effect with robustness against disturbances such as friction force and modeling errors. Furthermore, so-called reaching phase is positively utilized so that the operator can feel disturbance torque of relatively large amplitude which should be noticed as information about environment, for example, when hitting an obstacle accidentally. Since the reaching phase should be designed from several points of view, the dynamics in the reaching phase is linearlized in order to use fruitful linear control theories such as H_∞ theory.
journal article
日本機械学会
2006-09
application/pdf
日本機械学会論文集. C編
721
72
2838
2844
日本機械学会論文集. C編
AN00187463
03875024
https://niigata-u.repo.nii.ac.jp/record/3760/files/1_0003.pdf
jpn
110004811603
日本機械学会
本文データは学会の許諾に基づくCiNiiからの複製である