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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Bai-shun Liu Fan-Cai Lin |
| Copyright Year | 2009 |
| Description | Author affiliation: Department of Battle & Command, Academe of Naval Submarine, QingDao, China (Bai-shun Liu; Fan-Cai Lin) |
| Abstract | This paper deals with the tracking control of robot manipulators. Synthesizing the strong robustness of the sliding mode control and the good flexibility of $PD-I^{NP-D}$ control, Proposed is a simple class of robot tracking controller consisting of a linear sliding mode term plus a linear PD feedback plus an integral action driven by an NP-D controller. By using Lyapunov's direct method and LaSalle's invariance principle, the simple explicit conditions on the controller gains to ensure global asymptotic stability are provided. The theoretical analysis and simulation results show that: i) the $SM-PD-I^{NP-D}$ controller has the faster convergence, better flexibility and stronger robustness with respect to initial errors; ii) the proposed control laws can not only achieve the asymptotically stable trajectory tracking control but also the tracking errors quickly tend to almost zero without oscillation as time increases; iii) after the sign function is replaced by saturation function in the $SM-PD-I^{NP-D}$ control law, the high-frequency oscillation of the control input vanishes. |
| Starting Page | 162 |
| Ending Page | 166 |
| File Size | 317567 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781424445196 |
| DOI | 10.1109/ICCSIT.2009.5234378 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-08-08 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot control Manipulators global stability Sliding mode control Convergence Robust control Asymptotic stability Analytical models Linear feedback control systems Error correction Trajectory PID control Tracking control |
| Content Type | Text |
| Resource Type | Article |
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