Title :
Robust variable structure and switching adaptive control of single-arm dynamics
Author :
Chen, Li-Wen ; Shieh, Shyang D.
Author_Institution :
Dept. of Electr. Eng., Chinese Naval Acad., Taiwan, China
Abstract :
In this paper, the variable structure control (VSC) and switching adaptive control (SAC) law are used to design a robust controller for single-arm rigid manipulators in joint space. The controller is shown to be robust with respect to bounded disturbance and its analysis can conclude the estimated parameter will not drift to infinity in presence of bounded disturbance. Besides, the joint torques have no chattering phenomena since VSC laws have not been used in the proposed control law.
Keywords :
adaptive control; manipulator dynamics; robust control; variable structure systems; VSC; VSS; bounded disturbance; joint space; robust control design; single-arm dynamics; single-arm rigid manipulators; switching adaptive control; variable structure control; Acceleration; Adaptive control; Equations; Lyapunov method; Manipulator dynamics; Parameter estimation; Robust control; Torque; Upper bound;
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT, USA
Print_ISBN :
0-7803-3876-6
DOI :
10.1109/CCA.1997.627721
