DESIGN OF NEW TIME-VARYING SLIDING SURFACE FOR ROBOT MANIPULATOR USING VARIABLE STRUCTURE CONTROLLER

被引：14
|
作者：
KIM, JJ
LEE, JJ
PARK, KB
YOUN, MJ
机构：
[1] Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Taejon 305-701
来源：
ELECTRONICS LETTERS | 1993年 / 29卷 / 02期
关键词：
ROBOTS; CONTROL;
D O I：
10.1049/el:19930131
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A variable structure controller with time-varying sliding surface is proposed for robot manipulators. The proposed time-varing sliding surface ensures the existence of a sliding mode from an initial state, whereas the conventional sliding surface cannot achieve robust performance against parameter variations and disturbances before the sliding mode occurs. Therefore, error transients can be prescribed in advance for all time. Furthermore, it is shown that the overall system is globally exponentially stable. The efficiency of the proposed method for the trajectory tracking is demonstrated by an example.
引用
收藏
页码：195 / 196
页数：2
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