A new robust continuous sliding mode control for robot manipulators with parameter perturbations

Basit Öğe Kaydı
dc.authorscopusid36877793000
dc.authorscopusid6603887382
dc.authorscopusid57221092049
dc.contributor.authorIstefanopulos, Y.
dc.contributor.authorJafarov, E.M.
dc.contributor.authorParlakçi, M.N.A.
dc.date.accessioned2024-07-18T20:17:02Z
dc.date.available2024-07-18T20:17:02Z
dc.date.issued2002
dc.description.abstractIn 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.en_US
dc.identifier.doi10.1109/ACC.2002.1025283
dc.identifier.endpage3206en_US
dc.identifier.issn0743-1619
dc.identifier.scopus2-s2.0-0036058884en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage3202en_US
dc.identifier.urihttps://doi.org/10.1109/ACC.2002.1025283
dc.identifier.urihttps://hdl.handle.net/11411/6384
dc.identifier.volume4en_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.relation.ispartofProceedings of the American Control Conferenceen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectContinuous Sliding Mode Controlen_US
dc.subjectLyapunov Full Quadratic Formen_US
dc.subjectParametric Perturbationsen_US
dc.subjectRobot Controlen_US
dc.subjectAsymptotic Stabilityen_US
dc.subjectComputer Simulationen_US
dc.subjectEigenvalues And Eigenfunctionsen_US
dc.subjectLyapunov Methodsen_US
dc.subjectManipulatorsen_US
dc.subjectMatrix Algebraen_US
dc.subjectMultivariable Control Systemsen_US
dc.subjectParameter Estimationen_US
dc.subjectPerturbation Techniquesen_US
dc.subjectRobustness (Control Systems)en_US
dc.subjectLinear Matrix İnequalitiesen_US
dc.subjectLyapunov Full Quadratic Formen_US
dc.subjectParameter Perturbationen_US
dc.subjectSliding Mode Controlen_US
dc.titleA new robust continuous sliding mode control for robot manipulators with parameter perturbationsen_US
dc.typeArticleen_US

Dosyalar

Koleksiyon

Scopus Indexed Publications