New variable structure PD-controllers design for robot manipulators with parameter perturbations

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dc.authoridJafarov, Elbrous M./0000-0002-7742-2514|Parlakci, Alpaslan/0000-0002-4702-3563
dc.authorwosidJafarov, Elbrous M./AAG-8398-2021
dc.authorwosidPARLAKÇI, Alparslan/A-2623-2011
dc.authorwosidParlakci, Alpaslan/U-1325-2018
dc.contributor.authorParlakci, MNA
dc.contributor.authorJafarov, EM
dc.contributor.authorIstefanopulos, Y
dc.date.accessioned2024-07-18T20:54:20Z
dc.date.available2024-07-18T20:54:20Z
dc.date.issued2004
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description.abstractIn this article two types of new variable structure PD 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 PD-controller is built upon the conventional equivalent control approach when full robot dynamics model is well known. In this case, equivalent control cancelled the robot dynamics almost completely, and switching part of the controller is used only for establishing the sliding mode and for providing global asymptotical stability of the robot system. However, the tracking PD-controller does not use an equivalent control term and requires no 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, as this approach is different from existing ones, 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 better than that of existing systems.en_US
dc.identifier.endpage142en_US
dc.identifier.issn0826-8185
dc.identifier.issue3en_US
dc.identifier.scopus2-s2.0-3242731402en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage134en_US
dc.identifier.urihttps://hdl.handle.net/11411/8707
dc.identifier.volume19en_US
dc.identifier.wosWOS:000225193300005en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherActa Press/I A S T E Den_US
dc.relation.ispartofInternational Journal of Robotics & Automationen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectVariable Structure Pd-Controlleren_US
dc.subjectSliding Modeen_US
dc.subjectLyapunov Full Quadratic Formen_US
dc.subjectRobot Tracking Controlen_US
dc.subjectTracking Controlen_US
dc.subjectRobust-Controlen_US
dc.subjectSystemsen_US
dc.subjectLawen_US
dc.titleNew variable structure PD-controllers design for robot manipulators with parameter perturbationsen_US
dc.typeArticleen_US

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