Hostname: page-component-cd9895bd7-hc48f Total loading time: 0 Render date: 2024-12-29T16:07:45.642Z Has data issue: false hasContentIssue false
  • English
  • Français

Observer-based sliding mode control of a robotic manipulator

Published online by Cambridge University Press:  09 March 2009

Karel Jezernik ,
Boris Curk  and
Jože Harnik
Karel Jezernik
Affiliation:
University of MariborFaculty of Technical Sciences, Smetanova 17, 62000 Maribor (Slovenia)
Boris Curk
Affiliation:
University of MariborFaculty of Technical Sciences, Smetanova 17, 62000 Maribor (Slovenia)
Jože Harnik
Affiliation:
University of MariborFaculty of Technical Sciences, Smetanova 17, 62000 Maribor (Slovenia)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a new approach for the design of variable structure control (VSC) of nonlinear systems. The approach is based on estimation of joint acceleration signals with introduction of load estimation with the asymptotic observer. The control system is insensitive to parameter variations for a chosen switching hypersurface in conditions when it is reached by the dynamic motion with the required dynamics. The parameter insensitive response provided by this control method is demonstrated on the model of the SCARA robot. Simulation results confirm the validity of accurate tracking capability and the robust performance.

Keywords

Sliding mode controlNonlinear systemsSCARA robot
Type
Article
Information
Robotica , Volume 12 , Issue 5 , September 1994 , pp. 443 - 448
Copyright
Copyright © Cambridge University Press 1994

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Tarn, T.J., Begezy, A.K., Isideru, A. & Chun, Y.L., “Nonlinear feedback in robot arm control” Proc. IEEE Conf. on Decision and Control(1984) pp. 736–751.Google Scholar
2.Isidori, A., Nonlinear Control Systems: An Introduction (Second Edition, Springer-Verlag, Berlin, 1989).CrossRefGoogle Scholar
3.Craig, J.J., Adaptive Control of Mechanical Manipulators (Addison-Wesley, Reading, Maryland, 1988).Google Scholar
4.Young, K.D., “Controller design for a manipulator using theory of variable structure systems” IEEE Trans. Sys., Man. and Cyber. SMC–8, 101–109 (1978).CrossRefGoogle Scholar
5.Bailey, E. & Arapostathis, A., “Simple sliding mode control scheme applied to robot manipulator” Int. J. Control 45, 1197–1209 (1987).CrossRefGoogle Scholar
6.Wijesoma, S.W., “Robust trajectory following of robots using computed torque structure with VSS” Int. J. Control 52, 935–962 (1990).CrossRefGoogle Scholar
7.Singh, S.K., “Decentralized variable structure control for tracking in non-linear systems” Int. J. Control 52, 811–831 (1990).CrossRefGoogle Scholar
8.Hashimoto, H., Yamamoto, H., Yanagisawa, S. & Harashima, F., “Brushless servo motor control using variable structure approach” IEEE Tr. Ind. App. 24, 160–170 (1988).CrossRefGoogle Scholar
9.Jezernik, K., Harnik, J. & Curk, B., “Variable structure control of AC servo motors used in industrial robots” Proc. First IEEE International Workshop on Variable Structure Systems and their Applications, Sarajevo (1990) pp. 139–148.Google Scholar
10.Jezernik, K., Curk, B. & Harnik, J., “Variable structure field oriented control of an induction motor drive” 4th European Conference on Power Electronics and Applications, Firenze, I (1991) pp. 2.161–2.166.Google Scholar
11.Xu, J.X., Hashimoto, H., Slotine, J.J., Arai, Y. & Harashima, F., “Implementation of VSS control to robotic manipulators-smoothing modification” IEEE Trans. Ind. Electron. 36, 321–329 (1989).CrossRefGoogle Scholar
12.Slotine, J.J. & Sastry, S.S., “Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators” Int. J. Control 38, 465–492 (1983).CrossRefGoogle Scholar
13.Utkin, V.I., Sliding Mode and their Applications in Variable Structure Systems (MIR Publishers, Moscow, 1978).Google Scholar
14.Šabanović, A.Bilalović, F., “Sliding mode control of AC drives” IEEE/AS Ann. Meet., Denver (1986) pp. 50–55.Google Scholar