The Transactions of the Korean Institute of Electrical Engineers (대한전기학회논문지)
- Volume 40 Issue 3
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- Pages.316-325
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- 1991
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- 0254-4172(pISSN)
Sliding Mode Control of Robot Manipulators with Improvement of Convergence Rate
수렴속도 향상을 갖는 로보트 매니퓰레이터의 슬라이딩모드 제어
Abstract
This paper presents the design of a new sliding mode controller to improve the rate of convergence by Lyapunov's stability analysis. The proposed controller shows that the elimination of the steady state position errors can be achieved by replacing the desired trajectory by the virtual reference trajectory. The proposed control scheme which consists of the upper bounded and estimated values of eac term of the manipulator dynamic equation does not require good knowledge of the parameters and the computation of matrix inversion. The performance of proposed controller is evaluated by the simulation for a two-link manipulator.
Keywords