Variable structure control for a two-link robot arm

被引：1
|
作者：
Huang, YJ [1 ]
机构：
[1] Yuan Ze Univ, Dept Elect Engn, Chungli, Taiwan
来源：
ELECTRICAL ENGINEERING | 2003年 / 85卷 / 04期
关键词：
variable structure control; sliding mode; robustness; robotics; look-up table;
D O I：
10.1007/s00202-003-0167-5
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：
In this paper, a variable structure control method for a two-link robot arm with/without look-up tables is proposed. The stability of the control system is proven. Robustness against parametric variation and external disturbance is achieved. Suitable controller gains are picked up from the angle-related tables to fulfill the control law. The proposed method retains the benefit of variable structure control and further curtails computation time. An additional advantage is that it is not necessary to measure or observe joint angular velocities.
引用
收藏
页码：195 / 204
页数：10
相关论文
共 50 条
  • [41] Nonlinear control with acceleration feedback for a two-link flexible robot
    Garcia-Benitez, F.
    Watkins, J.
    Yurkovich, S.
    Control Engineering Practice, 1993, 1 (06) : 989 - 997
  • [42] Efficient Pulling Motion of a Two-Link Robot Arm near Singular Configuration
    Urakubo, Takateru
    Mashimo, Tomoaki
    Kanade, Takeo
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, : 1372 - 1377
  • [43] EXPLORATION OF THE INVERSE AND FORWARD KINEMATICS OF A TWO-LINK ROBOT ARM USING MATLAB
    Hroncova, Darina
    Sarga, Patrik
    Prada, Erik
    MM SCIENCE JOURNAL, 2024, 2024 : 7400 - 7404
  • [44] Pruning neural networks for a two-link robot control system
    Ni, J
    Song, Q
    COMPUTATIONAL INTELLIGENCE AND BIOINSPIRED SYSTEMS, PROCEEDINGS, 2005, 3512 : 693 - 700
  • [45] Command shaping in tracking control of a two-link flexible robot
    Banerjee, AK
    Singhose, WE
    JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 1998, 21 (06) : 1012 - 1015
  • [46] Control of two-link gymnastic bar robot by single motor
    Kanzaki, K
    Azumi, K
    Takamura, M
    PROCEEDINGS OF THE ICMA'98 - ADVANCED MECHATRONICS: FIRST-TIME-RIGHT, VOLS 1 AND 2, 1998, : 691 - 702
  • [47] Direct Adaptive Fuzzy Control for a Two-Link Space Robot
    Ulrich, Steve
    Sasiadek, Jurek Z.
    2011 16TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS, 2011, : 290 - 295
  • [48] Dynamics and trajectory tracking control of a two-link robot manipulator
    Green, A
    Sasiadek, JZ
    JOURNAL OF VIBRATION AND CONTROL, 2004, 10 (10) : 1415 - 1440
  • [49] Dynamic characterization and simulation of two-link soft robot arm with pneumatic muscles
    Hosovsky, A.
    Pitel, J.
    Zidek, K.
    Tothova, M.
    Sarosi, J.
    Cveticanin, L.
    MECHANISM AND MACHINE THEORY, 2016, 103 : 98 - 116
  • [50] Adaptive fuzzy sliding mode control for a two-link robot
    Lin, Chih-Min
    Chen, Te-Yu
    Fan, Wei-Zhe
    Lee, Yueh-Feng
    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, 2006, : 581 - +
12345