Practical trajectory control of robot manipulators using adaptive sliding control scheme

Author

Leung, T.P. ; Zhou, Qu ; Su, Charles

Author_Institution

Dept. of Mech. & Marine Eng., Hong Kong Polytech., Hong Kong

fYear

1989

fDate

13-15 Dec 1989

Firstpage

2647

Abstract

An adaptive sliding mode scheme is developed for the accurate tracking control of a robotic manipulator in the presence of disturbances, parameter variations, and nonlinear dynamic interactions. Coupling the online estimation of unknown manipulator and payload parameters to the sliding mode control effectively improves the tracking performance. The developed method is implemented using the Motorola 8-MHz MC68000 microprocessor on a two-link revolute joint manipulator. Experiment results show the accurate tracking capability and robust performance of the system

Keywords

adaptive control; parameter estimation; position control; robots; variable structure systems; Motorola 8-MHz MC68000 microprocessor; adaptive sliding control; disturbances; nonlinear dynamic interactions; parameter estimation; parameter variations; position control; robot manipulators; robust performance; tracking control; trajectory control; two-link revolute joint manipulator; Adaptive control; Automatic control; Manipulator dynamics; Microprocessors; Payloads; Programmable control; Robot control; Robotics and automation; Robustness; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1989., Proceedings of the 28th IEEE Conference on

Conference_Location

Tampa, FL

Type

conf

DOI

10.1109/CDC.1989.70659

Filename

70659