A variable structure observer for the control of robot manipulators

• Autorzy: Abdessameud A. , Khelfi M. F.
• Języki publikacji: EN

Abstrakty

EN

This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee robustness against modeling errors and system uncertainties. To solve the tracking problem, we use a control law developed for robot manipulators in the full information case. The closed loop system is shown to be globally asymptotically stable based on Lyapunov arguments. Simulation results on a 3-DOF robot manipulator show the asymptotic convergence of the vectors of observation and tracking errors.

Słowa kluczowe

EN

variable structure observers; switching-type observers; rigid robot manipulators; exponential stability; tracking control

PL

obserwator; manipulator robotyczny; stateczność wykładnicza; system naprowadzający

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2006
• Tom: Vol. 16, no 2
• Strony: 189--196
• Opis fizyczny: Bibliogr. 27 poz., wykr.

Twórcy

autor

Abdessameud A.

• Laboratoire d’Automatique Appliquée, Faculty of Hydrocarbons and Chemistry, University of Boumerdes, Algeria

autor

Khelfi M. F.

• Computer Science Department, Faculty of Sciences, University of Oran Es-Sénia, Algeria

Bibliografia

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