Design of robust PD-sliding mode controller for robot position systems with parameter perturbations

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dc.authorscopusid57221092049
dc.authorscopusid6603887382
dc.authorscopusid36877793000
dc.contributor.authorParlakçi, M.N.A.
dc.contributor.authorJafarov, E.M.
dc.contributor.authorIstefanopulos, Y.
dc.date.accessioned2024-07-18T20:16:51Z
dc.date.available2024-07-18T20:16:51Z
dc.date.issued2003
dc.description3rd IFAC Workshop on Automatic Systems for Building the Infrastructure in Developing Countries, DECOM-TT 2003 -- 26 June 2003 through 28 June 2003 -- -- 145187en_US
dc.description.abstractThis 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.en_US
dc.identifier.doi10.1016/S1474-6670(17)35815-9
dc.identifier.endpage110en_US
dc.identifier.issn1474-6670
dc.identifier.issue7en_US
dc.identifier.scopus2-s2.0-85064574654en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage105en_US
dc.identifier.urihttps://doi.org/10.1016/S1474-6670(17)35815-9
dc.identifier.urihttps://hdl.handle.net/11411/6300
dc.identifier.volume36en_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIFAC Secretariaten_US
dc.relation.ispartofIFAC Proceedings Volumes (IFAC-PapersOnline)en_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.subjectPd-Controlleren_US
dc.subjectSliding Mode Conditionsen_US
dc.subjectStability Conditionsen_US
dc.subjectControllersen_US
dc.subjectDeveloping Countriesen_US
dc.subjectLyapunov Functionsen_US
dc.subjectNumber Theoryen_US
dc.subjectRobotsen_US
dc.subjectSliding Mode Controlen_US
dc.subjectLyapunov Full Quadratic Formen_US
dc.subjectParametric Perturbationsen_US
dc.subjectPd Controllersen_US
dc.subjectSliding Modesen_US
dc.subjectStability Conditionen_US
dc.subjectMachine Designen_US
dc.titleDesign of robust PD-sliding mode controller for robot position systems with parameter perturbationsen_US
dc.typeConference Objecten_US

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