Gain-learning Sliding Mode Control of Robot Manipulators with Time-delay Estimation

被引：0

作者：

Dang Xuan Ba ^{[1
]}

My-Ha Le ^{[1
]}

机构：

[1] HCMC Univ Technol & Educ HCMUTE, Fac Elect & Elect Engn FEEE, Ho Chi Minh City, Vietnam

来源：

PROCEEDINGS OF 2019 INTERNATIONAL CONFERENCE ON SYSTEM SCIENCE AND ENGINEERING (ICSSE) | 2019年

关键词：

Sliding mode control; gain adaptive control; robust control; position control; time-delay control; robot manipulator; CONTROL SCHEME; SYSTEMS; DESIGN; VEHICLES;

D O I：

10.1109/icsse.2019.8823120

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an adaptive robust controller for position tracking control of robot manipulators is proposed. To effectively approximate the system dynamics, a conventional time-delay estimator is employed. To realize the control objective, the controller is then designed based on a robust sliding mode scheme and incorporated with the estimation results obtained. To integrate the flexibility into the controller, a new gain-adaptive mechanism is adopted in which driving and robust control gains are freely varied to ensure asymptotic control performance. The stability and effectiveness of the proposed controller are verified using the Lyapunov-based approaches and simulation results.

引用

页码：478 / 483

页数：6

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