0
TECHNICAL PAPERS

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

[+] Author and Article Information
Sung-Uk Lee

Nuclear Robotics Laboratory, Korea Atomic Energy Research Institute, 150 Dujin-dong, Yusong-gu, Daejeon 305-353, Koreae-mail: sulee@mecha.kaist.ac.kr

Pyung Hun Chang

Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusong-dong, Yusong-gu, Daejeon 305-701, Koreae-mail: phchang@kaist.ac.kr

J. Dyn. Sys., Meas., Control 125(4), 630-638 (Jan 29, 2004) (9 pages) doi:10.1115/1.1636775 History: Received September 02, 2002; Revised May 07, 2003; Online January 29, 2004
Copyright © 2003 by ASME
Your Session has timed out. Please sign back in to continue.

References

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.
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.
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.
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.
Slotine, J.-J. E., and Li, J.-J. E., 1991, Applied Nonlinear Control, Prentice-Hall International Editions, Chap. 7.
Chang, P. H., and Park, S. H., 1998, “The Development of Anti-Windup Scheme and Stick-Slip Compensator for Time Delay Control,” Proc. of the American Control Conference, pp. 3629–3633.
Cho,  Dan, Yoshifumi,  Kato, and Darin,  Spilman, 1993, “Sliding Mode and Classical Controllers in Magnetic Levitation System,” IEEE Control Syst., pp. 42–48.
Chang,  P. H., Park,  S. H., and Lee,  S. U., 1994, “Development of Anti-Windup Method for Time Delay Control,” Trans. of the Korea Society of Mechanical Eng.,18(10), pp. 2616–2628.
Khalil, H. K., 1996, Nonlinear System, Prentice-Hall, Inc., Second edition, pp. 217–222.
Sontag,  E. D., 1989, “Smooth Stabilization Implies Coprime Factorization,” IEEE Trans. Autom. Control, 34, pp. 435–443.

Figures

Grahic Jump Location
TDCSA block diagram with saturation element in actuator
Grahic Jump Location
TDCSA block diagram with TDC anti-windup scheme
Grahic Jump Location
Flowchart of Reset sliding surface method
Grahic Jump Location
Linear bound of dzn( ) function
Grahic Jump Location
Experimental result with only anti-windup scheme for TDC
Grahic Jump Location
Experimental result with anti-windup scheme for TDC and reset sliding surface method

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In