Title :
Sliding mode controller with circular sliding surface for 2-link robot manipulator
Author :
Jo, Young-Hun ; Lee, Yong-Hwa ; Park, Kang-Bak
Author_Institution :
Dept. of Control & Instrum. Eng., Korea Univ., Seoul, South Korea
Abstract :
Almost all of control methods proposed so far have been designed such that the overall system guarantees asymptotic stability. In many of cases, however, it is preferable to design a controller such that the error gets to zero in a finite time. In this paper, we propose a novel circular sliding surface to get a finite time convergence. To show the effectiveness of the proposed method, simulation results for 2-link robot manipulators are given.
Keywords :
asymptotic stability; control system synthesis; dexterous manipulators; multidimensional systems; variable structure systems; 2-link robot manipulator; asymptotic stability; circular sliding surface; controller design; finite time control; sliding mode control; Joints; Manipulators; Service robots; Simulation; Sliding mode control; Circular Sliding Surface; Finite Time Control; Sliding Mode Control(SMC);
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
