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

• Autorzy: Parlakci M.N.A. , Jafarov E.M. , Istefanopulos Y.
• Języki publikacji: EN

Abstrakty

EN

This 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.

Słowa kluczowe

EN

robots; manipulators; perturbation techniques; Lyapunov methods; process control; control equipment; matrix algebra

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 2003
• Tom: Vol. 29, nr 2
• Strony: 145--155
• Opis fizyczny: Bibliogr. 12 poz.,

Twórcy

autor

Parlakci M.N.A.

• Department of Computer Science, Istanbul Bilgi University, Sisli, 80310, Istanbul, Turkey

autor

Jafarov E.M.

• Department of Computer Science, Istanbul Bilgi University, Sisli, 80310, Istanbul, Turkey
• Department of Aeronautical and Astronautical Engineering, Istanbul Technical University, Maslak 80626 Istanbul, Turkey

autor

Istefanopulos Y.

• Department of Electrical and Electronics Engineering, Bogazici University, Bebek 80815, Istanbul Turkey

Bibliografia

• [1] Emelyanov S. V., Variable Structure Control Systems, Moscow, Nauka, 1967, (in Russian).
• [2] Utkin V. I., Sliding Modes and Their Application in VSS, Moscow, Nauka, 1974, (in Russian).
• [3] Jafarov E. M., Midti-Structure Control of Continuous Process, D.Sc. Dissertation, MIEM-LETI, Moscow, VNIITI center, 1982, (in Russian).
• [4] Bailey E., Arapostathis A., A simple sliding mode scheme applied to robot manipulators. International Journal of Control, 45(4), 1987, 1197-1209.
• [5] Yeung K. S., Chen Y. P., A new controller design for manipulators using the theory of variable structure systems, IEEE Transactions on Automatic Control, 33(2), 1988, 200-206.
• [6] Su C. Y., Stepanenko Y., Adaptive variable structure set-point control of underactuated robots, IEEE Transactions on Automatic Control, 44(11), 1999.
• [7] Sage H. G., De Mathelin M. P., Ostertag E., Robust control of robot manipulators: a survey. International Journal of Control, 72(16), 1999, 1498-1522.
• [8] Zhihong M., Palaniswami M., Robust tracking control for rigid robotic manipulators, IEEE Transactions on Automatic Control, 39(1), 194, 154-159.
• [9] Slotine J.-J. E., Sastry S. S., Tracking Control of Nonlinear Systems Using Sliding Surfaces with Application to Robot Manipulators, International Journal of Control, 38, 1983,465-492.
• [10] Parlakci M. N. A., Jafarov E., Istefanopulos Y., Belegradek O., A novel design of robust relay-discontinuous sliding mode controller for robot manipulators with parameter perturbations, Proc. European Control Conference, Porto, 2001,968-974.
• [11] Stepanenko Y., Su C.-Y., Variable structure control of robot manipulators with nonlinear sliding manifolds. International Journal of Control, 58, 1993,285-300.
• [12] Istefanopulos Y., Jafarov E., Parlakci M. N. A.. A new variable structure-pd controller for robot manipidators with parameter perturbations, Proc. lASTED International Conference on Robotics and Applications, Tampa, 2001, 163-168.