A sliding mode PID-controller design for robot manipulators

Author

Kuo, T.C. ; Huang, Y.J.

Author_Institution

Dept. of Electr. Eng., Ching Yun Univ., Chungli, Taiwan

fYear

2005

fDate

27-30 June 2005

Firstpage

625

Lastpage

629

Abstract

A robust sliding mode PID-controller is proposed to control a robot manipulator with parameter variations and external disturbances. The work corroborates the utility of a certain sliding mode controller with PID sliding function for tracking control of a robot manipulator. The proposed method is used to take into account the unknown but bounded parameter uncertainties and external disturbances. The stability is demonstrated by Lyapunov theory. The performance of the closed-loop system is visualized through simulation. The input chattering phenomenon is handled by using boundary layer technique.

Keywords

Lyapunov methods; closed loop systems; control system synthesis; manipulators; robust control; three-term control; tracking; variable structure systems; Lyapunov theory; PID sliding function; boundary layer technique; bounded parameter uncertainties; chattering phenomenon; closed-loop system; controller design; external disturbance; parameter variation; robot manipulator; robust sliding mode PID-controller; robustness; stability; tracking control; Friction; Manipulator dynamics; Robot control; Robust control; Robust stability; Sliding mode control; Symmetric matrices; Three-term control; Tracking; Uncertain systems; Sliding mode; robot manipulators; robustness; stability; tracking control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on

Print_ISBN

0-7803-9355-4

Type

conf

DOI

10.1109/CIRA.2005.1554346

Filename

1554346