Patent ID: 6253120
Filing Date: 2001-06-26
Classification: B24B,B25J,G05B,Y02P

Abstract:
A position and/or force controlling apparatus using a sliding mode decoupling control system comprising: decoupling means for decoupling an interacting term existing in the control system on the basis of a regular condition of a decoupling matrix; and sliding mode controlling means for converging a control quantity along a hyperplane which is sought under the condition to satisfy the Lyapunov stability condition for the control system decoupled by the decoupling means; wherein gain for a non-linear input factor existing in the control system is set to a value large enough to satisfy the Lyapunov stability condition so that the control quantity converges on the hyperplane in a stable manner even when there is an uncertainty in the C matrix, and the C matrix connects state variables of an object to be controlled with an output of the object.