OBSERVER-BASED SLIDING MODE CONTROL OF A ROBOTIC MANIPULATOR

被引：25

作者：

JEZERNIK, K

CURK, B

HARNIK, J

机构：

[1] University of Maribor, 62000 Maribor (Slovenia)

来源：

ROBOTICA | 1994年 / 12卷

关键词：

SLIDING MODE CONTROL; NONLINEAR SYSTEMS; SCARA ROBOT;

D O I：

10.1017/S0263574700017999

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a new approach for the design of variable structure control (VSC) of nonlinear systems. The approach is based on estimation of joint acceleration signals with introduction of load estimation with the asymptotic observer. The control system is insensitive to parameter variations for a chosen switching hypersurface in conditions when it is reached by the dynamic motion with the required dynamics. The parameter insensitive response provided by this control method is demonstrated on the model of the SCARA robot. Simulation results confirm the validity of accurate tracking capability and the robust performance.

引用

页码：443 / 448

页数：6

共 14 条

[1]

Tarn T.J., Begezy A.K., Isideru A., Chun Y.L., Nonlinear feedback in robot arm control, Proc. IEEE Conf. on Decision and Control, pp. 736-751, (1984)

[2]

Isidori A., Nonlinear Control Systems: An Introduction, (1989)

[3]

Craig J.J., Adaptive Control of Mechanical Manipulators, (1988)

[4]

Young K.D., Controller design for a manipulator using theory of variable structure systems, IEEE Trans. Sys., Man. and Cyber, 8, pp. 101-109, (1978)

[5]

Bailey E., Arapostathis A., Simple sliding mode control scheme applied to robot manipulator, Int. J. Control, 45, pp. 1197-1209, (1987)

[6]

Wijesoma S.W., Robust trajectory following of robots using computed torque structure with VSS, Int. J. Control, 52, pp. 935-962, (1990)

[7]

Singh S.K., Decentralized variable structure control for tracking in non-linear systems, Int. J. Control, 52, pp. 811-831, (1990)

[8]

Hashimoto H., Yamamoto H., Yanagisawa S., Harashima F., Brushless servo motor control using variable structure approach, IEEE Tr. Ind. App., 24, pp. 160-170, (1988)

[9]

Jezernik K., Harnik J., Curk B., Variable structure control of AC servo motors used in industrial robots, Proc. First IEEE International Workshop on Variable Structure Systems and their Applications, pp. 139-148, (1990)

[10]

Jezernik K., Curk B., Harnik J., Variable structure field oriented control of an induction motor drive, 4th European Conference on Power Electronics and Applications, pp. 159-166, (1991)

← 1 2 →