A model-based sliding mode controller for robot manipulators

Author

Hanmandlu, M. ; Pandian, S.R.

Author_Institution

Dept. of Electr. Eng., Indian Inst. of Technol., New Delhi, India

fYear

1993

fDate

15-17 Dec 1993

Firstpage

2155

Abstract

A generalized model-based sliding mode controller for robot trajectory tracking is proposed, which incorporates the full-order, nonlinear, uncertain actuator dynamics in control law design. The problem of chattering is alleviated by replacing the discontinuous sliding mode control in the vicinity of the sliding mode by a high gain, continuous controller, resulting in dual mode control. Independent joint control, offline feedforward control and online feedforward control laws are derived. Simulation results are presented for the first three links of the PUMA 560 arm to illustrate their effectiveness

Keywords

manipulators; nonlinear control systems; position control; sampled data systems; stability; tracking; variable structure systems; PUMA 560 arm; chattering; control law design; discontinuous sliding mode control; dual mode control; full-order nonlinear uncertain actuator dynamics; high gain continuous controller; independent joint control; model-based sliding mode controller; offline feedforward control; online feedforward control; robot manipulators; robot trajectory tracking; Ear; Feedback control; Hydraulic actuators; Manipulator dynamics; Mechanical engineering; Nonlinear dynamical systems; Pneumatic actuators; Robot control; Sliding mode control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-1298-8

Type

conf

DOI

10.1109/CDC.1993.325578

Filename

325578