A new variable structure PID-controller for robot manipulators with parameter perturbations: An augmented sliding surface approach
Küçük Resim Yok
Tarih
2002
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
IFAC Secretariat
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this paper a new variable structure PID-controller is designed for stabilization of robot manipulator systems with parameter perturbations. The sufficient conditions for the existence of a sliding mode is considered. The techniques of matrix norm inequalities are used to cope with robustness issues. Some effective parameter-independent conditions are developed in a concise manner for the global asymptotic stability of the multivariable system using LMI's techniques and principle of Rayleigh's min/max matrix eigenvalue inequality. The stability conditions are derived by using the Lyapunov full quadratic form for the first time. The parameter perturbations of the robot motion are evaluated by introducing Frobenius norm. Simulation results have shown that the control performance of the robot system is satisfactory. Copyright © 2002 IFAC.
Açıklama
15th World Congress of the International Federation of Automatic Control, 2002 -- 21 July 2002 through 26 July 2002 -- -- 153189
Anahtar Kelimeler
Lyapunov Full Quadratic Form, Pıd Variable Structure Control, Robot Control, Sliding Mode, Asymptotic Stability, Automation, Control System Synthesis, Eigenvalues And Eigenfunctions, Electric Control Equipment, Flexible Manipulators, Industrial Robots, Modular Robots, Multivariable Systems, Number Theory, Proportional Control Systems, Robot Applications, Three Term Control Systems, Global Asymptotic Stability, Lyapunov Full Quadratic Form, Matrix Norm İnequalities, Parameter Perturbation, Robot Controls, Robot Manipulator Systems, Sliding Modes, Variable Structure Pıd Controller, Controllers
Kaynak
IFAC Proceedings Volumes (IFAC-PapersOnline)
WoS Q Değeri
Scopus Q Değeri
N/A
Cilt
15
Sayı
1
