DocumentCode :
1449994
Title :
An adaptive variable structure model following control design for robot manipulators
Author :
Leung, Tin-Pui ; Zhou, Qi-Jie ; Su, Chun-Yi
Author_Institution :
Dept. of Mech. & Marine Eng., Hong Kong Polytech., Hong Kong
Volume :
36
Issue :
3
fYear :
1991
fDate :
3/1/1991 12:00:00 AM
Firstpage :
347
Lastpage :
353
Abstract :
An adaptive variable structure model-following control (AVSMFC) design is proposed for trajectory tracking in a nonlinear robot system which ensures the stability of the intersection of the surfaces without necessarily stabilizing each individual one. The approach avoids the difficulties linked to the strict positive realness requirement in traditional AMFC by taking advantage of the inherent positive definiteness of the manipulator´s inertia matrix, and is easily extendible to a higher number of links. The controller does not require any knowledge of a nonlinear robotic system and does not necessarily need the occurrence of a sliding mode at each individually stable discontinuity surface. It thus greatly reduces the complexity of design. In the closed loop, the joint angles asymptotically converge to the reference trajectory with a prescribed transient response. Chattering is eliminated by restricting the state of the system to slide within a boundary layer rather than along the intersection of the surfaces
Keywords :
model reference adaptive control systems; position control; robots; variable structure systems; adaptive variable structure model following control; boundary layer; closed loop; individually stable discontinuity surface; inertia matrix; nonlinear robot system; positive definiteness; robot manipulators; stability; trajectory tracking; transient response; Adaptive control; Control design; Control systems; Nonlinear control systems; Programmable control; Robots; Sliding mode control; Stability; Trajectory; Transient response;
fLanguage :
English
Journal_Title :
Automatic Control, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9286
Type :
jour
DOI :
10.1109/9.73569
Filename :
73569
Link To Document :
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