Title :
Robust Control of the Robot Manipulator via an Improved Sliding Mode Scheme
Author :
Liang, Yew-Wen ; Xu, Sheng-Dong ; Chu, Tzu-Chiang
Author_Institution :
Nat. Chiao Tung Univ., Hsinchu
Abstract :
In this paper, an improved sliding mode control (SMC) scheme, reformed from the conventional SMC approaches, is developed for position tracking of a robot manipulator with parameter uncertainties and external disturbances. The improved SMC scheme, which uses saturation-type SMC laws, is shown to be able to surpass the level of uniformly ultimate boundedness to achieve asymptotic stability. In addition, the presented first-order SMC laws are continuous; as a result, this scheme can also alleviate the undesirable chattering behavior that is characteristic of sign-type SMC laws. Simulation results demonstrate the benefits of the proposed scheme.
Keywords :
Lyapunov methods; asymptotic stability; manipulators; robust control; variable structure systems; asymptotic stability; parameter uncertainty; position tracking; robot manipulator; robust control; saturation-type SMC law; sign-type SMC law; sliding mode control; Asymptotic stability; Automatic control; Control systems; Manipulator dynamics; Robot control; Robotics and automation; Robust control; Service robots; Sliding mode control; Uncertain systems; Asymptotic stability; Nonlinear systems; Robot manipulator control; Sliding mode control; Tracking;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303787
