Title :
A decentralised variable structure model following controller for robot manipulators
Author :
Pandian, S.R. ; Hanmandlu, M. ; Gopal, M.
Author_Institution :
Dept. of Electr. Eng., Indian Inst. of Technol., New Delhi, India
Abstract :
An algorithm for the trajectory control of robot manipulators be decentralized feedback is proposed. A decentralized model following controller is used that bypasses the complexities posed by the nonlinear, uncertain dynamics of manipulator, dealing instead with the simpler actuator dynamics and treating the joint torques as disturbances. The controller is simple computationally easy, and robust to parametric uncertainties and payload variations
Keywords :
feedback; model reference adaptive control systems; multivariable control systems; position control; robots; variable structure systems; MRACS; actuator dynamics; decentralised control; feedback; model following controller; multivariable control systems; position control; robot manipulators; trajectory control; variable structure systems; Actuators; Adaptive control; Control systems; Electric variables control; Feedback; Force control; Manipulator dynamics; Robot control; Robust control; Uncertainty;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12251
