DocumentCode :
2940700
Title :
Variable structure control for set-point stabilization OF 2-DOF underactuated manipulators
Author :
Mahjoub, Sonia ; Mnif, Faical ; Derbel, N.
Author_Institution :
Res. unit on Intell. Control, Ecole Nat. d´Ing. de Sfax, Sfax
fYear :
2008
fDate :
20-22 July 2008
Firstpage :
1
Lastpage :
5
Abstract :
Controlling an underactuated manipulator with less actuators than degree of freedom is a challenging problem, specifically when it is to force the underactuated manipulator to track a given trajectory or to be configurated at a specific position in the work space. This paper presents a cascade sliding mode tracking controller for set-point regulation of 2-DOF underactuated manipulators. This work builds on an observation that an underactuated manipulator can be treated as two subsystems. Consequently, a cascade sliding mode tracking controller can be designed as follows. First, a sliding mode surface is designed for both subsystems, this two sliding surfaces represent a first layer in the design architecture. A second layer sliding mode surface is then constructed based on the first layer sliding surface. The cascaded sliding mode controller is therefor deduced in terms of Lyapunov stability theorem. Robustness issues to bounded disturbances are then investigated. Simulation results on 2-DOF whiling pendulum are presented to demonstrate the effectiveness of the approach.
Keywords :
manipulators; stability; variable structure systems; -DOF underactuated manipulators; Lyapunov stability theorem; set-point stabilization; sliding mode tracking controller; variable structure control; Actuators; Control systems; Force control; Linear feedback control systems; Lyapunov method; Manipulators; Mechanical systems; Sliding mode control; Surface treatment; Torque control; VSS; sliding-mode; underactuated-manipulator; whiling pendulum;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Signals and Devices, 2008. IEEE SSD 2008. 5th International Multi-Conference on
Conference_Location :
Amman
Print_ISBN :
978-1-4244-2205-0
Electronic_ISBN :
978-1-4244-2206-7
Type :
conf
DOI :
10.1109/SSD.2008.4632868
Filename :
4632868
Link To Document :
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