Title :
Adaptive variable structure tracking control for robot manipulators
Author :
Yoo, Dong Sang ; Choi, Han Ho ; Chung, Myung Jin
Author_Institution :
GoldStar Ltd., Kyungki, South Korea
Abstract :
Without any knowledge of robot dynamics except two properties (skew-symmetry and boundedness of robot parameter matrices), an adaptive variable structure tracking control algorithm for the tracking problem of desired trajectories is proposed. A simple adaptation law for the estimation of bounds of robot parameter matrices is presented. The construction of the adaptation law depends only on desired and actual trajectories. The global asymptotic stability for the robot systems is proven using the Lyapunov stability theorem
Keywords :
Lyapunov methods; adaptive control; robots; stability; tracking; variable structure systems; Lyapunov stability theorem; adaptation law; bounds estimation; global asymptotic stability; robot manipulators; robot parameter matrices; trajectories; Adaptive control; Asymptotic stability; Control systems; Manipulator dynamics; Programmable control; Robot control; Symmetric matrices; Torque; Tracking; Trajectory;
Conference_Titel :
TENCON '92. ''Technology Enabling Tomorrow : Computers, Communications and Automation towards the 21st Century.' 1992 IEEE Region 10 International Conference.
Conference_Location :
Melbourne, Vic.
Print_ISBN :
0-7803-0849-2
DOI :
10.1109/TENCON.1992.272045
