PD-sliding mode controller for robot manipulators: A comparison analysis

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dc.authorscopusid57221092049
dc.authorscopusid6603887382
dc.authorscopusid36877793000
dc.contributor.authorParlakci, M.N.A.
dc.contributor.authorJafarov, E.M.
dc.contributor.authorIstefanopulos, Y.
dc.date.accessioned2024-07-18T20:17:46Z
dc.date.available2024-07-18T20:17:46Z
dc.date.issued2004
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-control scheme is proposed for the set-point regulation problem of robot systems. The controller compensates for 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. Comparative simulation results with classical PD-controller have been presented indicating that the sliding mode PD-like controller yields faster and smoother performance.en_US
dc.identifier.endpage155en_US
dc.identifier.issn0137-1223
dc.identifier.issue2en_US
dc.identifier.scopus2-s2.0-4344568619en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage145en_US
dc.identifier.urihttps://hdl.handle.net/11411/6714
dc.identifier.volume29en_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.relation.ispartofSystems Scienceen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectControl Equipmenten_US
dc.subjectLyapunov Methodsen_US
dc.subjectManipulatorsen_US
dc.subjectMatrix Algebraen_US
dc.subjectPerturbation Techniquesen_US
dc.subjectProcess Controlen_US
dc.subjectRobotsen_US
dc.subjectRobot Manipulatorsen_US
dc.subjectRobot Position Systemsen_US
dc.subjectRobust Controllersen_US
dc.subjectSliding Mode Controlen_US
dc.titlePD-sliding mode controller for robot manipulators: A comparison analysis
dc.typeArticle

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