A novel design of robust relay-discontinuous sliding mode controller for robot manipulators with parameter perturbations
Küçük Resim Yok
Tarih
2001
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
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.
Açıklama
Directorate General XII of the European Commission;Faculdade de Engenharia da Universidade do Porto
6th European Control Conference, ECC 2001 -- 4 September 2001 through 7 September 2001 -- -- 112066
6th European Control Conference, ECC 2001 -- 4 September 2001 through 7 September 2001 -- -- 112066
Anahtar Kelimeler
Lyapunov Full Quadratic Form, Parametric Perturbations, Relay Term, Sliding Conditions, Sliding Mode Control, Asymptotic Stability, Control Theory, Controllers, Eigenvalues And Eigenfunctions, Flexible Manipulators, Industrial Robots, Linear Matrix İnequalities, Machine Design, Modular Robots, Multivariable Systems, Number Theory, Robot Applications, Sliding Mode Control, Stabilization, Globally Asymptotic Stability, Lyapunov Full Quadratic Form, Matrix Norm İnequalities, Parametric Perturbations, Relay Term, Robot Manipulator Systems, Sliding Conditions, Sliding Mode Controller, Variable Structure Control
Kaynak
2001 European Control Conference, ECC 2001
WoS Q Değeri
Scopus Q Değeri
N/A
