NDLI: Trajectory Tracking in Robotic Systems using Variable Structure Control without a Reaching Phase

Content Provider	IEEE Xplore Digital Library
Author	Chang, Tai-Heng Hurmuzlu, Yildirim
Copyright Year	1992
Description	Author affiliation: Mechanical Engineering Department, Southern Methodist University, Dallas, TX 75275 (Chang, Tai-Heng; Hurmuzlu, Yildirim)
Abstract	A new variable structure control law based on the Lyapunov's seoond method that can be used in trajectory planning problems of robotic systems is developed. A modified approach to the formulation of the sliding domain equations in terms of tracking errors has been presented. This approach possesses three distinct advantages: i) it eliminates the reaching phase, ii) it provides means to predict the entire motion and directly control the evolution of tracking errors, iii) it facilitates the trajectory planning process in the joint and/or cartesian spaces. Two applications representing a two-link manipulator and a five-link bipedal robot are considered. The manipulator example is used to demonstrate the improvements in controller performance that arises from the application of the proposed method. In the second application, five constraint relations that cast the motion of a planar, five-link biped in terms of four parameters are developed. The new control method is applied to regulate the locomotion of the system according to the five constraint relations. Numerical simulation is performed to verify the ability of the controller to achieve steady gait by applying the proposed control scheme.
Starting Page	1505
Ending Page	1509
File Size	528127
Page Count	5
File Format	PDF
ISBN	0780302109
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-06-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Trajectory Robots Control systems Motion planning Manipulators Equations Motion control Tracking Error correction Process planning
Content Type	Text
Resource Type	Article

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