Yazar "Istefanopulos, Y." seçeneğine göre listele

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    Design of robust PD-sliding mode controller for robot position systems with parameter perturbations
    (IFAC Secretariat, 2003) Parlakçi, M.N.A.; Jafarov, E.M.; Istefanopulos, Y.
    This paper introduces a new robust position variable structure controller design method for robot position systems with parameter perturbations. In most situations, the exact knowledge of the robot dynamics does not exist. For this reason a robust variable structure PD-conirol scheme is proposed for the set-point regulation problem of robot systems. The controller compensates the inexact information about the robot system. It uses only some robot bound parameters and measurable joint variables. The sufficient conditions are derived for the existence of a sliding mode in the robot system. The techniques of matrix norm inequalities are often addressed for robustness analysis of the controller. In addition, the stability conditions are also investigated in a global sense. Effective parameter-independent conditions are developed by using a full quadratic form of Lyapunov function. Simulation results have been presented indicating thai the control performance is satisfactory. Copyright © 2003 IFAC.
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    A new robust continuous sliding mode control for robot manipulators with parameter perturbations
    (2002) Istefanopulos, Y.; Jafarov, E.M.; Parlakçi, M.N.A.
    In this paper a new continuous sliding mode controller is designed for stabilization of robot manipulator systems with parameter perturbations. The sufficient conditions for the existence of a sliding mode in the robot system is considered. The techniques of matrix norm inequalities are used to cope with robustness issues. Some effective parameter-independent conditions are developed in a concise manner for the globally asymptotic stability of the multivariable system using linear matrix inequalities (LMI) and principle of Rayleigh's min/max matrix eigenvalue inequality. The stability conditions are derived by using the Lyapunov full quadratic form. The parameter perturbations of the robot motion are evaluated by the Frobenius norm. Simulation results have shown that the control performance of the robot system is satisfactory.
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    A new variable structure PID-controller for robot manipulators with parameter perturbations: An augmented sliding surface approach
    (IFAC Secretariat, 2002) Jafarov, E.M.; Istefanopulos, Y.; Parlakçi, M.N.A.
    In this paper a new variable structure PID-controller is designed for stabilization of robot manipulator systems with parameter perturbations. The sufficient conditions for the existence of a sliding mode is considered. The techniques of matrix norm inequalities are used to cope with robustness issues. Some effective parameter-independent conditions are developed in a concise manner for the global asymptotic stability of the multivariable system using LMI's techniques and principle of Rayleigh's min/max matrix eigenvalue inequality. The stability conditions are derived by using the Lyapunov full quadratic form for the first time. The parameter perturbations of the robot motion are evaluated by introducing Frobenius norm. Simulation results have shown that the control performance of the robot system is satisfactory. Copyright © 2002 IFAC.
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    A novel design of robust relay-discontinuous sliding mode controller for robot manipulators with parameter perturbations
    (Institute of Electrical and Electronics Engineers Inc., 2001) Parlakci, M.N.A.; Jafarov, E.M.; Istefanopulos, Y.; Belegradek, O.
    This paper represents a new approach for the design of variable structure control of robot manipulator systems with parameter perturbations. A new sliding mode control law is introduced with the idea of constructing a discontinuous relay controller. The approach is based on establishing the sufficient conditions for the existence of a sliding mode in the robot arm system. The techniques of matrix norm inequalities are used to cope with robustness issues. Moreover, some effective parameter-independent conditions are developed in a concise manner for the globally asymptotic stability of the multivariable system using linear matrix inequalities (LMI) and principle of Rayleigh's min/max matrix eigenvalue inequality. The stability conditions are derived by using the Lyapunov full quadratic form which is introduced to the robust robot control for the first time. By the newly derived sliding and stability conditions, a new variable structure control law is designed for the stabilization of the robot motion with parameter perturbations. The parameter perturbations of the robot motion are evaluated by the Frobenius norm. Simulation results have shown that the control performance of the robot system is satisfactory. © 2001 EUCA.
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    PD-sliding mode controller for robot manipulators: A comparison analysis
    (2004) Parlakci, M.N.A.; Jafarov, E.M.; Istefanopulos, Y.
    This paper introduces a new robust position variable structure controller design method for robot position systems with parameter perturbations. In most situations, the exact knowledge of the robot dynamics does not exist. For this reason a robust variable structure PD-control scheme is proposed for the set-point regulation problem of robot systems. The controller compensates for the inexact information about the robot system. It uses only some robot bound parameters and measurable joint variables. The sufficient conditions are derived for the existence of a sliding mode in the robot system. The techniques of matrix norm inequalities are often addressed for robustness analysis of the controller. In addition, the stability conditions are also investigated in a global sense. Effective parameter-independent conditions are developed by using a full quadratic form of Lyapunov function. Comparative simulation results with classical PD-controller have been presented indicating that the sliding mode PD-like controller yields faster and smoother performance.
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    Robust position and tracking variable structure PD-controllers design methods for robot manipulators with parameter perturbations
    (World Scientific and Engineering Academy and Society, 2003) Parlakci, M.N.A.; Jafarov, E.M.; Istefanopulos, Y.
    In this paper two types of new variable structure PD-like controllers with and without full dynamics knowledge are designed for position and tracking stabilization of robot manipulator systems with parameter perturbations. The main contribution of this work is the design of the tracking PD-controller for robot manipulators without using full dynamics knowledge. The position controller is built upon the well-known equivalent control method. The tracking controller does not require any exact information about the robot manipulator dynamics and employs only the measurable joint variables and bounds of some robot perturbed parameters. The sufficient conditions for the existence of a sliding mode and the rate of convergence are investigated. Moreover, the global asymptotical stability conditions are also derived with a Lyapunov full quadratic form used for the first time. Linear matrix inequalities are often addressed. Reduced design conditions are also derived. Both analytical and numerical comparisons with the Qu and Dorsey control laws and stability results are also emphasized. Simulations are carried out with a two-link direct drive robot arm model. The simulation results have shown that the control performance of the designed system is satisfactory.