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Observer-based sliding mode control of a robotic manipulator

Published online by Cambridge University Press:  09 March 2009

Karel Jezernik ,
Boris Curk  and
Jože Harnik
Karel Jezernik
Affiliation:
University of MariborFaculty of Technical Sciences, Smetanova 17, 62000 Maribor (Slovenia)
Boris Curk
Affiliation:
University of MariborFaculty of Technical Sciences, Smetanova 17, 62000 Maribor (Slovenia)
Jože Harnik
Affiliation:
University of MariborFaculty of Technical Sciences, Smetanova 17, 62000 Maribor (Slovenia)
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Summary

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.

Keywords

Sliding mode controlNonlinear systemsSCARA robot
Type
Article
Information
Robotica , Volume 12 , Issue 5 , September 1994 , pp. 443 - 448
Copyright
Copyright © Cambridge University Press 1994

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