Generalized variable structure control of two one-link manipulators in two operating modes

Author

Nouri, A.S. ; Lopez, P.

Author_Institution

Dept. of Electr. Eng., Inst. Nat. des Sci. Appliquees, Toulouse, France

fYear

1993

fDate

15-17 Dec 1993

Firstpage

2479

Abstract

The differential algebra formalism has been used to present the generalized variable structure (GVS) sliding linearizing feedback. The switching is done on the highest derivative of the input: the chattering is reduced because the control is operated by a successive integration. The new robust control algorithm is applied to two one-axis robot arms: the first is driven by a motor with two artificial muscles and the second by DC motor commanded by the induced. The control algorithm is easily implemented in online computer. The control performances appear by step response and tracking trajectory modes. Via such a GVS control law, insensitivity to external disturbances, nonlinearities and parameter variations are obtained. The harmony between the results of experimentation and simulation is in conformity with theory

Keywords

feedback; linearisation techniques; robots; sensitivity; stability; variable structure systems; chattering reduction; differential algebra formalism; external disturbance insensitivity; generalized variable structure control; generalized variable structure sliding linearizing feedback; nonlinearity insensitivity; one-link manipulators; parameter variation insensitivity; step response; tracking trajectory modes; Algebra; Computational modeling; Control nonlinearities; DC motors; Feedback; Manipulators; Muscles; Robots; Robust 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.1993.325643

Filename

325643