Robust, Near Time-Optimal Control of Nonlinear Second-Order Systems: Theory and Experiments

[+] Author and Article Information
W. S. Newman, K. Souccar

Department of Electrical Engineering and Applied Physics and Center for Automation and Intelligent Systems Research, Case Western Reserve University, Cleveland, Ohio 44106

J. Dyn. Sys., Meas., Control 113(3), 363-370 (Sep 01, 1991) (8 pages) doi:10.1115/1.2896419 History: Received April 01, 1990; Revised October 01, 1990; Online March 17, 2008


A technique is presented for controlling second-order, nonlinear systems using a combination of bang-bang time-optimal control, sliding-mode control, and feedback linearization. Within the control loop, a state space evaluation of the system classifies the instantaneous dynamics into one of three regions, and one of three corresponding control algorithms is invoked. Using a prescribed generation of desirable sliding surfaces, the resulting combined controller produces nearly time-optimal performance. The combination controller is provably stable in the presence of model uncertainty. Experimental data are presented for the control of a General Electric GP132 industrial robot. The method is shown to achieve nearly time-optimal motion that is robust to modeling uncertainties. Representative transients compare favorably to bang-bang control and PD control.

Copyright © 1991 by The American Society of Mechanical Engineers
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