A sliding mode PID-controller design for robot martipulators

被引：5
|
作者：
Kuo, TC [1 ]
Huang, YJ [1 ]
机构：
[1] Ching Yun Univ, Dept Elect Engn, Chungli 320, Taiwan
来源：
2005 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, PROCEEDINGS | 2005年
关键词：
sliding mode; robot manipulators; tracking control; robustness; stability;
D O I：
10.1109/CIRA.2005.1554346
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A robust sliding mode PID-controller is proposed to control a robot manipulator with parameter variations and external disturbances. The work corroborates the utility of a certain sliding mode controller with PID sliding function for tracking control of a robot manipulator. The proposed method is used to take into account the unknown but bounded parameter uncertainties and external disturbances. The stability is demonstrated by Lyapunov theory. The performance of the closed-loop system is visualized through simulation. The input chattering phenomenon is handled by using boundary layer technique.
引用
收藏
页码：625 / 629
页数：5
相关论文
共 50 条
  • [1] Sliding Mode PID-Controller Design for Robot Manipulators by Using Fuzzy Tuning Approach
    Ataei, Mohammad
    Shafiei, S. Ehsan
    [J]. PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 4, 2008, : 170 - +
  • [2] A new variable structure PID-controller design for robot manipulators
    Jafarov, EM
    Parlakçi, MNA
    Istefanopulos, Y
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2005, 13 (01) : 122 - 130
  • [3] NEURAL NETWORK SLIDING-MODE-PID CONTROLLER DESIGN FOR ELECTRICALLY DRIVEN ROBOT MANIPULATORS
    Shafiei, Seyed Ehsan
    Soltanpour, Mohammad Reza
    [J]. INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2011, 7 (02): : 511 - 524
  • [4] Modular PID-controller design with different filtering properties
    Huba, Mikulas
    [J]. 39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013), 2013, : 3609 - 3614
  • [5] Calculation of robust PID-controller
    Zemtsov, N. S.
    Frantsuzova, G. A.
    Hubka, L.
    Modrlak, O.
    [J]. 2014 12TH INTERNATIONAL CONFERENCE ON ACTUAL PROBLEMS OF ELECTRONICS INSTRUMENT ENGINEERING (APEIE), 2014, : 675 - 678
  • [6] Design of the Sliding Mode Controller for A Kind of Unicycle Robot
    Guo, Lei
    He, Kai
    Song, Yuan
    [J]. 2016 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA), 2016, : 1432 - 1437
  • [7] PID based sliding mode controller design for the micro quadrotor
    Long, Luong Tuan
    Won, Sangchul
    [J]. 2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013), 2013, : 1860 - 1865
  • [8] Optimization Strategy for PID-Controller Design of AMB Rotor Systems
    Wei, Chunsheng
    Soeffker, Dirk
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2016, 24 (03) : 788 - 803
  • [9] Comparison of Conventional & Fuzzy based Sliding Mode PID Controller for Robot Manipulator
    Vyas, Dhaval
    Ohri, Jyoti
    Patel, Ankit
    [J]. 2013 INTERNATIONAL CONFERENCE ON INDIVIDUAL AND COLLECTIVE BEHAVIORS IN ROBOTICS (ICBR), 2013, : 115 - 119
  • [10] A NEW LOOK AT PID-CONTROLLER TUNING
    PESSEN, DW
    [J]. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1994, 116 (03): : 553 - 557
12345