Title :
Optimal design procedure of disturbance observer based sliding mode CP control for two axis SCARA robot
Author :
Itoh, Hiroshi ; Kawamura, Atsuo
Author_Institution :
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan
fDate :
28 Oct-1 Nov 1991
Abstract :
Using the Lyapunov stability theorem, an optimal design procedure for a disturbance observer based sliding mode CP (continuous pass) control is proposed. The result is applied to the two axis SCARA robot trajectory control. Through simulations and experiments, it was verified that the proposed approach is an effective design chart of observer based sliding mode control. Very robust sliding mode control was realized with less chattering
Keywords :
Lyapunov methods; State estimation; control system synthesis; position control; robots; state estimation; variable structure systems; Lyapunov stability theorem; continuous pass control; control system synthesis; disturbance observer based sliding mode; optimal design procedure; position control; state estimation; trajectory control; two axis SCARA robot; Control systems; Frequency; Lyapunov method; Optimal control; Robots; Robust control; Sampling methods; Servomechanisms; Servomotors; Sliding mode control;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location :
Kobe
Print_ISBN :
0-87942-688-8
DOI :
10.1109/IECON.1991.239273
