Variable structure model following control with robust stability

Author

Park, Kang-Bark ; Tsuji, Teruo ; Lee, Ju-Jang

Author_Institution

Dept. of Electr. Eng., Kyushu Inst. of Technol., Kitakyushu, Japan

Volume

2

fYear

1998

fDate

13-17 Oct 1998

Firstpage

812

Abstract

In this paper, a variable structure model following control system (VSMFCS) for robot manipulators is proposed. By using a function augmented sliding hyperplane, the proposed controller guarantees that the system is always in the sliding mode. Therefore, although the conventional VSMFCS methods have been able to ensure the asymptotic stability of the overall system, the proposed scheme can guarantee the globally exponential stability even though the controller does not use the model state (x_m)

Keywords

asymptotic stability; manipulators; model reference adaptive control systems; robust control; variable structure systems; VSC; VSMFCS; VSS; asymptotic stability; function augmented sliding hyperplane; globally exponential stability; robot manipulators; robust stability; sliding mode; variable structure model following control system; Asymptotic stability; Control system synthesis; Electric variables control; Estimation error; Manipulator dynamics; Nonlinear control systems; Robots; Robust stability; Sliding mode control; Transient response;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.727297

Filename

727297