NDLI: On variable structure robotic control with integral sliding surfaces

Content Provider	IEEE Xplore Digital Library
Author	Stepanenko, Y. Yong Cao
Copyright Year	1993
Description	Author affiliation: Dept. of Mech. Eng., Victoria Univ., BC, Canada (Stepanenko, Y.; Yong Cao)
Abstract	Dynamic behavior of a system in the sliding mode is entirely defined by the sliding surface. Customarily, the surface is selected as a hyperplane in the system state-space resulting in a PD type sliding surface. This is not the only possible structure, and other designs with more complex or time-varying surfaces may provide definite advantages. Slotine and Spong (1985) included an integral term in the sliding surface expression that resulted in a type of PID sliding surface. In this paper we present a new design procedure and stability analysis for robotic variable structure controllers with PID like sliding surface. Two versions of the controllers are presented: regular and adaptive. The former is very simple and can operate with an unknown robot dynamic model; the only information required is a bound on one parameter. The latter provides an online estimation for this bound. Both controllers are robust with respect to bounded external disturbances and some unmodeled dynamic effects. The simulation results have demonstrated stable, with minimum chattering transient responses that may be significantly faster than responses of traditional PD-manifold controllers under the same conditions.<>
Starting Page	1128
Ending Page	1133
File Size	468197
Page Count	6
File Format	PDF
ISBN	0780312988
DOI	10.1109/CDC.1993.325360
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-12-15
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Sliding mode control Manipulator dynamics Programmable control Adaptive control Variable structure systems Mechanical variables control Mechanical engineering Three-term control Robustness
Content Type	Text
Resource Type	Article

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