Title :
Performance of two kinds of nonlinear robust controllers for robot manipulators-a comparative study
Author :
Loizidis, Iannis ; Doulgeri, Zoe
Author_Institution :
Dept. of Electr. & Comput. Eng., Aristotelian Univ. of Thessaloniki, Greece
Abstract :
A comparative study of the performance of two robust outer loop controllers designed on the basis of Lyapunov methods and sliding mode control is presented. Control law smoothing techniques are also presented and a new function for the interpolation of the discontinuous control law is proposed. The two controllers are designed for a single link manipulator with uncertain parameters. Simulation results show that smoothing eliminates chattering in both cases but the tracking error depends on the method and the smoothing technique. Sliding mode control smoothed by the proposed function gave very good smoothing-accuracy characteristics
Keywords :
Lyapunov methods; controllers; manipulators; nonlinear control systems; robust control; smoothing methods; variable structure systems; Lyapunov methods; chattering elimination; control law smoothing techniques; nonlinear robust controllers; robot manipulators; robust outer loop controllers; single link manipulator; sliding mode control; tracking error; Interpolation; Linear feedback control systems; Lyapunov method; Manipulators; Orbital robotics; Robot control; Robot kinematics; Robust control; Sliding mode control; Smoothing methods;
Conference_Titel :
Industrial Electronics, 1995. ISIE '95., Proceedings of the IEEE International Symposium on
Conference_Location :
Athens
Print_ISBN :
0-7803-7369-3
DOI :
10.1109/ISIE.1995.497269
