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An Algorithm for Robust Tracking Control of Robots

Published online by Cambridge University Press:  09 March 2009

Zoran R. Novaković  and
Leon Z˘lajpah
Zoran R. Novaković
Affiliation:
Institut Joz˘ef Stefan, University of Ljubljana, Jamova 39, 61000 Ljubljana, (Yugoslavia)
Leon Z˘lajpah
Affiliation:
Institut Joz˘ef Stefan, University of Ljubljana, Jamova 39, 61000 Ljubljana, (Yugoslavia)
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Summary

Based on the Lyapunov theory, a new principle was developed for synthesizing robot tracking control in the presence of model uncertainties. First, a general Lyapunov-like robust tracking concept is presented. It is then used as a basis for the control algorithm derived via a quadratic Lyapunov function constructed using a sliding mode function (based on the output error). Control synthesis is made in task-space, without any need for solving the inverse kinematics problem, i.e. one does not need to inver the Jacobian matrix. It is also shown that the tracking error becomes close to zero in a settling time which is less than a prescribed finite time. Simulation results are incorporated.

Keywords

TrackingControlRobotsAlgorithmLyapunov's theory
Type
Article
Information
Robotica , Volume 9 , Issue 1 , January 1991 , pp. 53 - 62
Copyright
Copyright © Cambridge University Press 1991

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