Title :
On robust control of robotic manipulator systems
Author_Institution :
Dept. of Math. & Stat., Simon Fraser Univ., Burnaby, BC, Canada
Abstract :
This paper discusses the problem of robust control in robotic manipulator systems. The designing process can be viewed as a modified computed torque method. By introducing a sliding mode observer, we construct a robust controller which makes the error dynamics uniformly ultimately bounded. The scheme can be applied to the control of n-link robot arm with unknown but bounded payload and disturbance. Simulation of a 2-link robot arm is done
Keywords :
feedback; manipulators; nonlinear control systems; stability; state estimation; torque control; variable structure systems; bounded disturbance; bounded payload; error dynamics; nonlinear feedback; robot arm; robotic manipulator systems; robust control; robust dynamics; sliding mode observer; torque control; Aerodynamics; Aerospace industry; Angular velocity; Computational modeling; Manipulator dynamics; Mathematical model; Robust control; Service robots; Torque; Uncertainty;
Conference_Titel :
Control Applications, 1993., Second IEEE Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1993.348242
