Discrete Variable Structure Control Theory And Its Applications In Shot-Concrete Robot

Variable structure control of discrete-time systems and its applications in shot-concrete robot are discussed in this paper. At first, theory of variable structure control of continuous-time systems is introduced in detail, such questions as design of variable structure control, Invariance, and chattering phenomenon are discussed. Then characteristics and design methods of variable structure control for discrete-time systems are introduced. First, the problem of choosing sample time in the discretized variable structure control of continuous-time systems is analyzed, then direct design methods of variable structure for discrete-time systems are discussed. In chapter four, design methods of chattering-free for discrete-time variable structure control systems are discussed in emphasize, and two design methods of reaching law which can eliminate chattering phenomenon are studied. A new design method of variable structure control for discrete-time systems is introduced which is verified as chattering-free in theory. After that, design of mechanism structure and control system of shot-concrete robot are introduced in detail. Then a robot controller is designed based on variable structure control theory for discrete-time systems, and its control result is discussed, too.