A new variable structure PID-controller for robot manipulators with parameter perturbations: An augmented sliding surface approach

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dc.authorscopusid6603887382
dc.authorscopusid36877793000
dc.authorscopusid57221092049
dc.contributor.authorJafarov, E.M.
dc.contributor.authorIstefanopulos, Y.
dc.contributor.authorParlakçi, M.N.A.
dc.date.accessioned2024-07-18T20:17:24Z
dc.date.available2024-07-18T20:17:24Z
dc.date.issued2002
dc.description15th World Congress of the International Federation of Automatic Control, 2002 -- 21 July 2002 through 26 July 2002 -- -- 153189en_US
dc.description.abstractIn 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.en_US
dc.identifier.doi10.3182/20020721-6-es-1901.00873
dc.identifier.endpage370en_US
dc.identifier.isbn9783902661746
dc.identifier.issn1474-6670
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-84945533005en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage365en_US
dc.identifier.urihttps://doi.org/10.3182/20020721-6-es-1901.00873
dc.identifier.urihttps://hdl.handle.net/11411/6525
dc.identifier.volume15en_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.subjectPıd Variable Structure Controlen_US
dc.subjectRobot Controlen_US
dc.subjectSliding Modeen_US
dc.subjectAsymptotic Stabilityen_US
dc.subjectAutomationen_US
dc.subjectControl System Synthesisen_US
dc.subjectEigenvalues And Eigenfunctionsen_US
dc.subjectElectric Control Equipmenten_US
dc.subjectFlexible Manipulatorsen_US
dc.subjectIndustrial Robotsen_US
dc.subjectModular Robotsen_US
dc.subjectMultivariable Systemsen_US
dc.subjectNumber Theoryen_US
dc.subjectProportional Control Systemsen_US
dc.subjectRobot Applicationsen_US
dc.subjectThree Term Control Systemsen_US
dc.subjectGlobal Asymptotic Stabilityen_US
dc.subjectLyapunov Full Quadratic Formen_US
dc.subjectMatrix Norm İnequalitiesen_US
dc.subjectParameter Perturbationen_US
dc.subjectRobot Controlsen_US
dc.subjectRobot Manipulator Systemsen_US
dc.subjectSliding Modesen_US
dc.subjectVariable Structure Pıd Controlleren_US
dc.subjectControllersen_US
dc.titleA new variable structure PID-controller for robot manipulators with parameter perturbations: An augmented sliding surface approach
dc.typeConference Object

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