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Sliding mode control with perturbation estimation: application on DD robot mechanism

Published online by Cambridge University Press:  30 October 2001

Boris Curk  and
Karel Jezernik
Boris Curk
Affiliation:
University of Maribor, Faculty of Electrical Engineering and Computer Science, Smetanova 17, 2000 Maribor (Slovenia)karel.jezernik@uni-mb.si
Karel Jezernik
Affiliation:
University of Maribor, Faculty of Electrical Engineering and Computer Science, Smetanova 17, 2000 Maribor (Slovenia)karel.jezernik@uni-mb.si
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Abstract

In this work another perturbation estimation sliding mode based control algorithm is introduced for a class of robotic systems in the presence of structured and unstructured uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity. A full order device with the actuator voltages as control inputs is assumed in control design. The decentralized control scheme with only a partial state feedback is applied. A modification of the switching functions with perturbation estimation is introduced. The salient features of this approach is that the perturbations are effectively treated by a computationally straightforward procedure. The proposed controller is applied to a minimal configuration direct drive robot mechanism.

Keywords

Sliding mode controlPerturbation estimationUncertaintiesExternal disturbancesControl scheme
Type
Research Article
Information
Robotica , Volume 19 , Issue 6 , September 2001 , pp. 641 - 648
Copyright
© 2001 Cambridge University Press

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