Robust position and tracking variable structure PD-controllers design methods for robot manipulators with parameter perturbations

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dc.authorscopusid57221092049
dc.authorscopusid6603887382
dc.authorscopusid36877793000
dc.contributor.authorParlakci, M.N.A.
dc.contributor.authorJafarov, E.M.
dc.contributor.authorIstefanopulos, Y.
dc.date.accessioned2024-07-18T20:18:00Z
dc.date.available2024-07-18T20:18:00Z
dc.date.issued2003
dc.description.abstractIn 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.en_US
dc.identifier.endpage94en_US
dc.identifier.isbn9608052874
dc.identifier.scopus2-s2.0-4944236261en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage86en_US
dc.identifier.urihttps://hdl.handle.net/11411/6841
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherWorld Scientific and Engineering Academy and Societyen_US
dc.relation.ispartofRecent Advances in Intelligent Systems and Signal Processingen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectLyapunov Full Quadratic Formen_US
dc.subjectRobot Tracking Controlen_US
dc.subjectSliding Modeen_US
dc.subjectVariable Structure Pd-Controlleren_US
dc.subjectFeedback Controlen_US
dc.subjectLyapunov Methodsen_US
dc.subjectManipulatorsen_US
dc.subjectPerturbation Techniquesen_US
dc.subjectRobotsen_US
dc.subjectRobustness (Control Systems)en_US
dc.subjectStabilizationen_US
dc.subjectTracking (Position)en_US
dc.subjectLyapunov Full Quadriatic Formsen_US
dc.subjectRobot Trackingen_US
dc.subjectSliding Modeen_US
dc.subjectVariable Structure Pd Controllersen_US
dc.subjectSliding Mode Controlen_US
dc.titleRobust position and tracking variable structure PD-controllers design methods for robot manipulators with parameter perturbationsen_US
dc.typeArticleen_US

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