Title :
Variable structure adaptive controller for robot manipulator based on desired trajectory compensation
Author :
Bowen, Cui ; Maode, Yan
Author_Institution :
Marine Eng. Inst., Jimei Univ., Xiamen
Abstract :
The paper presents a new controller for robot manipulator with nonlinear friction combing with the slide variable structure control theory. In the paper, the generalized coordinates, its first and second derivatives in the regressor are replaced by its desired value, and the variable structure adaptive controller for robot manipulator based on desired trajectory is formed. The adaptive scheme has best computationally efficient for real-time calculating of the regressor. The simulation research shows that the controller is robust to disturbance of dynamic uncertainty and nonlinear friction.
Keywords :
adaptive control; compensation; manipulator dynamics; position control; uncertain systems; variable structure systems; desired trajectory compensation; dynamic uncertainty; nonlinear friction; robot manipulator; slide variable structure control; variable structure adaptive controller; Adaptive control; Computational modeling; Control theory; Friction; Manipulator dynamics; Programmable control; Robot control; Robot kinematics; Robust control; Uncertainty; Adaptive control; Desired trajectory; Robot; Variable structure;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4605509
