Design of robust PD-sliding mode controller for robot position systems with parameter perturbations
Küçük Resim Yok
Tarih
2003
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
IFAC Secretariat
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This paper introduces a new robust position variable structure controller design method for robot position systems with parameter perturbations. In most situations, the exact knowledge of the robot dynamics does not exist. For this reason a robust variable structure PD-conirol scheme is proposed for the set-point regulation problem of robot systems. The controller compensates the inexact information about the robot system. It uses only some robot bound parameters and measurable joint variables. The sufficient conditions are derived for the existence of a sliding mode in the robot system. The techniques of matrix norm inequalities are often addressed for robustness analysis of the controller. In addition, the stability conditions are also investigated in a global sense. Effective parameter-independent conditions are developed by using a full quadratic form of Lyapunov function. Simulation results have been presented indicating thai the control performance is satisfactory. Copyright © 2003 IFAC.
Açıklama
3rd IFAC Workshop on Automatic Systems for Building the Infrastructure in Developing Countries, DECOM-TT 2003 -- 26 June 2003 through 28 June 2003 -- -- 145187
Anahtar Kelimeler
Lyapunov Full Quadratic Form, Parametric Perturbations, Pd-Controller, Sliding Mode Conditions, Stability Conditions, Controllers, Developing Countries, Lyapunov Functions, Number Theory, Robots, Sliding Mode Control, Lyapunov Full Quadratic Form, Parametric Perturbations, Pd Controllers, Sliding Modes, Stability Condition, Machine Design
Kaynak
IFAC Proceedings Volumes (IFAC-PapersOnline)
WoS Q Değeri
Scopus Q Değeri
N/A
Cilt
36
Sayı
7
