WSR Robust Control System with 2nd-order Dynamics
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Abstract
In this paper, we propose a sliding mode controller with a second-order dynamic approach for RAM (Rotate And Move) water strider robots. Under the premise that the water strider robot operates on the water surface, its dynamic characteristics are affected by disturbance. A robust RAM controller in consideration of this point has been proposed in the past. In this case, since it is designed mainly for simple robustness, it is not easy to apply when a controller that considers the dynamic characteristics during movement is required. In this paper, we design a RAM controller that can get the movement
characteristics in the reaching mode as the second-order dynamic characteristics using the PI type law. The proposed controller is not only robust, but can be easily applied as a design method using secondary dynamic characteristics and can improve the response characteristics of the controller. The stability of the proposed controller is proved by the Lyapunov function, and from the simulation results, the proposed controller has the designed second order dynamic characteristics and the response characteristics are also improved compared to the conventional controller.
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