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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.
In this paper sliding mode motion design is considered for nonlinear plants which are linear with respect to control input. The dynamics of the robotic manipulators is treated with and without those of the actuators. When the dynamics of the actuators is included a design of the sliding modes for the systems with discontinuous control is performed. If actuators' dynamics is negelected the control is assumed to be continuous quantity. By combining the variable structure systems and Lyapunov designs a new algorithm is developed which has all the good properties of the sliding mode systems while avoiding unnecessary discontinuity of the control thus eliminating chattering. Neither the explicit calculation of the equivalent control, nor high gain inside the boundary layer are used. The parameters of the control depend on the plant's gain matrix, and the gradients of the sliding mode manifold. This control method is then applied to develop a unified control strategy for the motion control systems including the path tracking control, the impedance control and the force control of a robotic manipulator. It is shown that all these tasks can be formulated in the same mathematical form in which selected so-called sliding mode functions must track their references. In this way the systems state is forced to remain on the selected manifold in the state space after reaching it. The solution is interpreted in both the Joint space and the Work space for n -degrees of freedom robotic manipulators.
A global optimal control algorithm was developed with the aim of finding a control which satisfies some special requirements in the sense of obtaining singular position free movement of the redundant robot mechanism. The solution of the developed global optimal control algorithm is a boundary value problem. The additional constraints in the boundary value problem were constructed with the use of an optimization process. The usefulness of the developed global optimal control algorithm is demonstrated by the example of the 3 DOFs planar redundant robot mechanism of SCARA type.
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.
This paper develops a method for neural network control design with sliding modes in which robustness is inherent. Neural network control is formulated to become a class of variable structure (VSS) control. Sliding modes are used to determine best values for parameters in neural network learning rules, thereby robustness in learning control can be improved. A switching manifold is prescribed and the phase trajectory is demanded to satisfy both, the reaching condition and the sliding condition for sliding modes.
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