OBSERVER-BASED SLIDING MODE CONTROL OF A ROBOTIC MANIPULATOR

被引：25
|
作者：
JEZERNIK, K
CURK, B
HARNIK, J
机构：
[1] University of Maribor, 62000 Maribor (Slovenia)
来源：
ROBOTICA | 1994年 / 12卷
关键词：
SLIDING MODE CONTROL; NONLINEAR SYSTEMS; SCARA ROBOT;
D O I：
10.1017/S0263574700017999
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents a new approach for the design of variable structure control (VSC) of nonlinear systems. The approach is based on estimation of joint acceleration signals with introduction of load estimation with the asymptotic observer. The control system is insensitive to parameter variations for a chosen switching hypersurface in conditions when it is reached by the dynamic motion with the required dynamics. The parameter insensitive response provided by this control method is demonstrated on the model of the SCARA robot. Simulation results confirm the validity of accurate tracking capability and the robust performance.
引用
收藏
页码：443 / 448
页数：6
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