Robust Control of the Robot Manipulator via an Improved Sliding Mode Scheme

Author

Liang, Yew-Wen ; Xu, Sheng-Dong ; Chu, Tzu-Chiang

Author_Institution

Nat. Chiao Tung Univ., Hsinchu

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

1593

Lastpage

1598

Abstract

In this paper, an improved sliding mode control (SMC) scheme, reformed from the conventional SMC approaches, is developed for position tracking of a robot manipulator with parameter uncertainties and external disturbances. The improved SMC scheme, which uses saturation-type SMC laws, is shown to be able to surpass the level of uniformly ultimate boundedness to achieve asymptotic stability. In addition, the presented first-order SMC laws are continuous; as a result, this scheme can also alleviate the undesirable chattering behavior that is characteristic of sign-type SMC laws. Simulation results demonstrate the benefits of the proposed scheme.

Keywords

Lyapunov methods; asymptotic stability; manipulators; robust control; variable structure systems; asymptotic stability; parameter uncertainty; position tracking; robot manipulator; robust control; saturation-type SMC law; sign-type SMC law; sliding mode control; Asymptotic stability; Automatic control; Control systems; Manipulator dynamics; Robot control; Robotics and automation; Robust control; Service robots; Sliding mode control; Uncertain systems; Asymptotic stability; Nonlinear systems; Robot manipulator control; Sliding mode control; Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303787

Filename

4303787