Transactions on Control, Automation and Systems Engineering

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Adaptive Approaches on the Sliding Mode Control of Robot Manipulators

  • Published : 2001.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, adaptive algorithms on the sliding model control for robust tracking control of robust manipulators are presented. The presented algorithms use adaption laws for tuning both the sliding mode gain and the thickness of the boundary layer to reject a disconitnuous control input, and to improve the tracking performance. It is shown that the robustness of the developed adaptive algorithms are guaranteed by the sliding mode control law and that the algorithms are globally convergent in the presence of disturbances and modeling uncertainties. Computer simulations are performed for a two-link manipulator, and the results show good properties of the proposed adaptive algorithms under large mainpulator parameter uncertainties and disturbances.

Keywords

References

  1. Sliding Mode Control: Theory and Applications C. Edwards;S. K. Spurgeon
  2. Int. J. of Sys. Sci. v.31 no.9 Gain adaptation in sliding mode control of robotic manipulators M. Ertugrul;O. Kaynak;F. Kerestecioglu
  3. KITE J. Electronics Eng. v.7 no.2 A study on self-tuning of the boundary layer for variable structure controller B. J. Choi;S. W. Kwak;B. K. Kim
  4. Introduction to Robotics Mechanics and Control J. J. Craig
  5. IEEE Trans. on Product Eng. v.2 no.2 Tracking contol of a robot manipulator using sliding mode F. Harasima;J. Xu;H. Hashimoto
  6. IEEE SOUTHEASTCON'94 Trajectory control of manipulators using adaptive sliding mode control J. S. Park;Y. A. Jiang;T. Hesketh;D. J. Clements
  7. Applied Nonlinea Control J. J. E. Slotine;W. Li
  8. IEEE Trans. on Aut. Cont. v.AC-22 Variable structure systems with sliding modes V. I. Utkin