Title :
Position domain PD sliding mode control for contour tracking
Author :
Ouyang, P.R. ; Pano, V. ; Hu, Y.Q.
Author_Institution :
Coll. of Mech. & Electr. Eng., Hunan Univ. of Sci. & Technol., Xiangtan, China
Abstract :
In this paper, a novel position domain PD sliding mode control (PDC-SMC) law is proposed for nonlinear robotic manipulators with the main purpose of improving contour tracking performance. The new controller takes the advantages of the high contour tracking performance of PD type position domain control (PDC) and the robustness of SMC in order to create a model independent control scheme. Stability analysis is performed based on the Lyapunov method, and simulation studies are conducted to verify the effectiveness of the developed PDC-SMC control systems.
Keywords :
Lyapunov methods; PD control; manipulators; nonlinear control systems; position control; stability; variable structure systems; Lyapunov method; PD type position domain control; PDC-SMC control systems; contour tracking; model independent control scheme; nonlinear robotic manipulators; position domain PD sliding mode control; stability analysis; Dynamics; Joints; Manipulators; PD control; Symmetric matrices; Time-domain analysis;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on
Conference_Location :
Busan
DOI :
10.1109/AIM.2015.7222673
