Title :
Time-optimal sliding mode control of robot manipulator
Author :
Kalaykov, I. ; Iliev, B.
Author_Institution :
Dept. of Technol., Orebro Univ., Sweden
Abstract :
We demonstrate a time-optimal control algorithm based on the sliding mode control principle to control a robot manipulator. A designed time-optimal trajectory during the reaching phase is combined with fast sliding dynamics. The discontinuous algorithm gives a time response closer to the analytical time-optimal control solution based on the Pontryagin principle, and robust performance in the presence of plant parameter uncertainties
Keywords :
manipulators; maximum principle; time optimal control; uncertain systems; variable structure systems; Pontryagin principle; analytical time-optimal control solution; discontinuous algorithm; fast sliding dynamics; reaching phase; robot manipulator; time response; time-optimal sliding mode control; time-optimal trajectory; Control systems; Delay; Manipulator dynamics; Robot control; Robot kinematics; Robot sensing systems; Robustness; Sliding mode control; Time factors; Velocity control;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.973161
