Adaptive PD plus Sliding Mode Control for Robotic Manipulator

被引：0
作者：
Ouyang, P. R. [1 ,2 ]
Tang, J. [2 ]
Yue, W. H. [2 ]
Jayasinghe, Shanuka [1 ]
机构：
[1] Ryerson Univ, Dept Aerosp Engn, Toronto, ON, Canada
[2] Hunan Univ Sci & Technol, Coll Mech & Elect Engn, Xiangtan, Peoples R China
来源：
2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2016年
关键词：
Adaptive control; PD control; sliding mode control; robotic manipulator; trajectory tracking; TRACKING;
D O I：
暂无
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 proportional-derivative (PD) plus sliding mode control (SMC) algorithm, APD-SMC in short, is proposed for tracking control of robotic manipulators. The PD control part is used to bring the trajectory to the normalized tracking, the SMC part forces the trajectory close to the sliding surface, and the adaptive control part is used to estimate the dynamics of the system. The proposed control system has the features of PD control and SMC with the adaptation for the unknown dynamics of the robotic manipulators. The stability analysis is conducted based on the Lyapunov theory, and simulation study is fulfilled and comparisons are performed in order to prove the effectiveness of the APD-SMC law.
引用
收藏
页码：930 / 934
页数：5
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