A new robust continuous sliding mode control for robot manipulators with parameter perturbations
Küçük Resim Yok
Tarih
2002
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Yayıncı
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
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.
Açıklama
Anahtar Kelimeler
Continuous Sliding Mode Control, Lyapunov Full Quadratic Form, Parametric Perturbations, Robot Control, Asymptotic Stability, Computer Simulation, Eigenvalues And Eigenfunctions, Lyapunov Methods, Manipulators, Matrix Algebra, Multivariable Control Systems, Parameter Estimation, Perturbation Techniques, Robustness (Control Systems), Linear Matrix İnequalities, Lyapunov Full Quadratic Form, Parameter Perturbation, Sliding Mode Control
Kaynak
Proceedings of the American Control Conference
WoS Q Değeri
Scopus Q Değeri
N/A
Cilt
4
