Adaptive Sliding-mode Robust Tracking Control for Robot Manipulator with the Uncertainties

Author

Duan, Suolin ; Ma, Zhenghua

Author_Institution

Taiyuan Univ. of Sci. & Technol.

Volume

1

fYear

0

fDate

0-0 0

Firstpage

2180

Lastpage

2184

Abstract

An adaptive sliding mode control (SMC) method based on equivalent control in the SMC and regressor formulation of robot dynamics is presented for the trajectory tracking control of robot manipulators with parameter uncertainties and non-parameter uncertainties. The smoothing control law is adopted to eliminate the chattering in the conventional VSC. The asymptotical stability of overall systems is proved by using Lyapunov theory. To illustrate the feasibility of the presented controller it is implemented on a GR-2 two-link robot manipulator using the proposed method. The simulation and experimental results confirm that the presented controller can guarantee the stability and dynamic quality of sliding mode, and eliminate the effect of uncertainties in the systems on the performances. Also the robustness and good tracking precision can be obtained

Keywords

Lyapunov methods; adaptive control; asymptotic stability; manipulators; regression analysis; robot dynamics; robust control; smoothing methods; variable structure systems; Lyapunov theory; adaptive sliding-mode control; asymptotical stability; parameter uncertainty; regressor formulation; robot dynamics; robot manipulator; robust trajectory tracking control; smoothing control law; Adaptive control; Manipulator dynamics; Programmable control; Robot control; Robust control; Sliding mode control; Smoothing methods; Trajectory; Uncertain systems; Uncertainty; adaptive sliding mode control; experiment; regressor model; robot; stability; uncertainties;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1712745

Filename

1712745