A novel design of robust relay-discontinuous sliding mode controller for robot manipulators with parameter perturbations

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dc.authorscopusid57221092049
dc.authorscopusid6603887382
dc.authorscopusid36877793000
dc.authorscopusid6602572734
dc.contributor.authorParlakci, M.N.A.
dc.contributor.authorJafarov, E.M.
dc.contributor.authorIstefanopulos, Y.
dc.contributor.authorBelegradek, O.
dc.date.accessioned2024-07-18T20:17:23Z
dc.date.available2024-07-18T20:17:23Z
dc.date.issued2001
dc.descriptionDirectorate General XII of the European Commission;Faculdade de Engenharia da Universidade do Portoen_US
dc.description6th European Control Conference, ECC 2001 -- 4 September 2001 through 7 September 2001 -- -- 112066en_US
dc.description.abstractThis 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.en_US
dc.identifier.doi10.23919/ecc.2001.7076038
dc.identifier.endpage974en_US
dc.identifier.isbn9783952417362
dc.identifier.scopus2-s2.0-84947460463en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage968en_US
dc.identifier.urihttps://doi.org/10.23919/ecc.2001.7076038
dc.identifier.urihttps://hdl.handle.net/11411/6512
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartof2001 European Control Conference, ECC 2001en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectLyapunov Full Quadratic Formen_US
dc.subjectParametric Perturbationsen_US
dc.subjectRelay Termen_US
dc.subjectSliding Conditionsen_US
dc.subjectSliding Mode Controlen_US
dc.subjectAsymptotic Stabilityen_US
dc.subjectControl Theoryen_US
dc.subjectControllersen_US
dc.subjectEigenvalues And Eigenfunctionsen_US
dc.subjectFlexible Manipulatorsen_US
dc.subjectIndustrial Robotsen_US
dc.subjectLinear Matrix İnequalitiesen_US
dc.subjectMachine Designen_US
dc.subjectModular Robotsen_US
dc.subjectMultivariable Systemsen_US
dc.subjectNumber Theoryen_US
dc.subjectRobot Applicationsen_US
dc.subjectSliding Mode Controlen_US
dc.subjectStabilizationen_US
dc.subjectGlobally Asymptotic Stabilityen_US
dc.subjectLyapunov Full Quadratic Formen_US
dc.subjectMatrix Norm İnequalitiesen_US
dc.subjectParametric Perturbationsen_US
dc.subjectRelay Termen_US
dc.subjectRobot Manipulator Systemsen_US
dc.subjectSliding Conditionsen_US
dc.subjectSliding Mode Controlleren_US
dc.subjectVariable Structure Controlen_US
dc.titleA novel design of robust relay-discontinuous sliding mode controller for robot manipulators with parameter perturbations
dc.typeConference Object

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