Title :
Sliding mode control of a PR manipulator at physical constraint boundaries
Author :
Keleher, P.G. ; Stonier, R.J.
Author_Institution :
Sch. of Ind. Ecology, Central Queensland Univ., St. Lucia, Qld., Australia
Abstract :
In this paper we investigate the control of a PR manipulator to targets that lie on the boundary of its workspace within finite time. This is achieved by introducing a boundary avoidance parameter, ε, into potential functions defined by constraint boundaries that are incorporated into a Liapunov function. We report and compare on the speed of convergence in two simulations that utilise the unique nature of the sliding mode surfaces in both Cartesian and polar formulations.
Keywords :
Lyapunov methods; manipulator dynamics; variable structure systems; Cartesian formulations; Lyapunov function; boundary avoidance parameter; manipulator control; physical constraint boundaries; polar formulations; potential functions; sliding mode control; sliding mode surfaces; workspace boundaries; Asymptotic stability; Australia; Convergence; Electrical equipment industry; Environmental factors; H infinity control; Industrial control; Manipulator dynamics; Robots; Sliding mode control;
Conference_Titel :
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN :
981-04-8364-3
DOI :
10.1109/ICARCV.2002.1238530
