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1、Robust,NearTime-OptimalControlW.S.NewmanofNonlinearSecond-OrderAssociateProfessor.Systems:TheoryandExperimentsK.SouccarGraduateStudent.Atechniqueispresentedforcontrollingsecond-order,nonlinearsystemsusingacombinationofbang-bangtime-optimalcontrol,sliding-modecontrol,andfeedbackD
2、epartmentofElectricalEngineeringandlinearization.Withinthecontrolloop,astatespaceevaluationofthesystemclassifiesAppliedPhysicstheinstantaneousdynamicsintooneofthreeregions,andoneofthreecorrespondingandcontrolalgorithmsisinvoked.UsingaprescribedgenerationofdesirableslidingCenterf
3、orAutomationandIntelligentSystemsResearch,surfaces,theresultingcombinedcontrollerproducesnearlytime-optimalperform•CaseWesternReserveUniversity,ance.Thecombinationcontrollerisprovablystableinthepresenceofmodelun•Cleveland,Ohio44106certainty.Experimentaldataarepresentedforthecont
4、rolofaGeneralElectricGP132industrialrobot.Themethodisshowntoachievenearlytime-optimalmotionthatisrobusttomodelinguncertainties.Representativetransientscomparefavorablytobang-bangcontrolandPDcontrol.IIntroductionThe"best"controllerforadynamicsystemmaybemathe•tory.Theresultingcont
5、rolledsystemtypicallyexhibitseithermaticallydefineduponrigorousspecificationofaperformancegrossinstabilityorseverechatter.Thediscrepancybetweenmeasure.Oneperformancemeasurewhichisappropriatefortheoryandexperimenthasbeenattributedtoparametricun•manyrobotapplicationsisthatofachiev
6、ingminimum-timestatecertainty[6,7],timedelays[8],andunmodeleddynamics[9].transitions,i.e.,"time-optimalcontrol."OptimizationontheRobustnesstomodelingerrorsisimprovedusingVariablebasisofminimumtimeisapplicableto"pick-and-place"op•StructureSystemsControl[10-12]orSlidingModeControl
7、erationsinwhichitisdesirabletoobtainmaximummachine[6,7].cyclerates.In[9]and[13]aneartime-optimalsliding-modecontrollawTime-optimalcontrolofrobotshasbeeninvestigatedbyawasproposedandtestedonasystemwhichcloselyapproxi•numberofresearchers,including[1-5],Ingeneral,theseworksmatedapu
8、redouble-integratorplantwithcontroleffortsat•ha
