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SLIDING MODE CONTROL METHOD AND SLIDING MODE CONTROL DEVICE
SLIDING MODE CONTROL METHOD AND SLIDING MODE CONTROL DEVICE
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机译：滑模控制方法及滑模控制装置
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摘要
PROBLEM TO BE SOLVED: To provide a sliding mode control method which is unlikely to be influenced by uncertainty and improves robustness, and a sliding mode control device.;SOLUTION: In a control method based on sliding mode control for controlling a control object by converging a state quantity indicating a state of the control object at a balanced point on a phase plane corresponding to a target value of the control object while restricting the state quantity on a changeover plane represented in the phase plane, the phase plane is a plane including the state quantity of a first-order differential value of the state quantity as axes, and the changeover plane is represented by a line shape in contact with any point on a smooth curve based on a jerk degree minimization trajectory. The changeover plane is temporally changed, and the smooth curve passes a point P indicating an initial state of the state quantity and an origin indicating the balanced point and has a tangent at the point P. The point P is represented by the state quantity and the first-order differential value of the state quantity, and a tilt of the tangent is represented by a value resulting from dividing a second-order differential value of the state quantity by the first-order differential value of the state quantity.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2017,JPO&INPIT
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