Variable structure adaptive controller for robot manipulator based on desired trajectory compensation

Author

Bowen, Cui ; Maode, Yan

Author_Institution

Marine Eng. Inst., Jimei Univ., Xiamen

fYear

2008

fDate

16-18 July 2008

Firstpage

394

Lastpage

397

Abstract

The paper presents a new controller for robot manipulator with nonlinear friction combing with the slide variable structure control theory. In the paper, the generalized coordinates, its first and second derivatives in the regressor are replaced by its desired value, and the variable structure adaptive controller for robot manipulator based on desired trajectory is formed. The adaptive scheme has best computationally efficient for real-time calculating of the regressor. The simulation research shows that the controller is robust to disturbance of dynamic uncertainty and nonlinear friction.

Keywords

adaptive control; compensation; manipulator dynamics; position control; uncertain systems; variable structure systems; desired trajectory compensation; dynamic uncertainty; nonlinear friction; robot manipulator; slide variable structure control; variable structure adaptive controller; Adaptive control; Computational modeling; Control theory; Friction; Manipulator dynamics; Programmable control; Robot control; Robot kinematics; Robust control; Uncertainty; Adaptive control; Desired trajectory; Robot; Variable structure;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2008. CCC 2008. 27th Chinese

Conference_Location

Kunming

Print_ISBN

978-7-900719-70-6

Electronic_ISBN

978-7-900719-70-6

Type

conf

DOI

10.1109/CHICC.2008.4605509

Filename

4605509