The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지
DOI QR코드

DOI QR Code

A Robust Variable Structure Controller for the Mixed Tracking Control of Robot Manipulators

로봇 메니플레이터의 혼합 추적 제어를 위한 강인 가변구조제어기

  • 이정훈 (공학연구원, 경상대학교 제어계측공학과)
  • Received : 2009.11.03
  • Accepted : 2010.08.20
  • Published : 2010.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a robust variable structure tracking controller is designed for the mixed tracking control of highly nonlinear rigid robot manipulators for the first time. The mixed control problem under consideration is extended from the basic tracking problem, with the different initial condition of both the planned trajectory and link of robots. This control problem in robotics is not addressed to until now. The tracking accuracy to the sliding trajectory after reaching is analyzed. The stability of the closed loop system is investigated in detail in Theorem 2. The results of Theorem 2 provide the stable condition for control gains. Combing the results of Theorem 1 and Theorem 2 gives rise to possibility of designing the improved variable structure tracking controller to guarantee the tracking error from the determined sliding trajectory within the prescribed accuracy after reaching. The usefulness of the algorithm has been demonstrated through simulation studies on the mixed tracking control of a two.link robot under parameter uncertainties and payload variations.

Keywords

References

  1. K. K. D. Young, Controller Design for a Manipulator Using Theory of Variable Structure Systems, IEEE Trans. on Systems, Man, and Cybernetics SMC-8(2), 1978, 101-109 Feb.
  2. J. J. Lee, J. H. Lee, and J. S. Lee, Efficient sliding mode control for robot manipulator with prescribed tracking performance. Robotica, 10, 1992, 521-530. https://doi.org/10.1017/S0263574700005841
  3. J. H. Lee and M. J. Youn, A new improved continuous variable structure controller for accurately prescribed tracking control of BLDD servo motors, Automatica 40, 2004, 2069-2074.
  4. I. Cervantes and J. Alvarez-Ramirez, On the PID tracking of robot manipulators, Systems & control Letters, 42, 2110, 37-46.
  5. V. D. Tourasis, V.D. and C.P. Neuman (1985) Robust Nonlinear Feedback Controller Robotic Manipulators. IEE Proc. Part D 132, 1985, 134-143 July. https://doi.org/10.1049/ip-d.1985.0026
  6. O. Egeland, On the Robustness of Computed Torque Method in Manipulator Control. Proc. IEEE Int. Conf. on Robotics and Automation, 1986, 1203-1208.
  7. A. J. Kovio and T.H. Huo, Adaptive Linear Controller for Robotic Manipulators. IEEE Trans. on Automat. Cont. AC-28(2), 1983, 162-171.
  8. J. J. Craig, Adaptive Control of Mechanical Manipulators. Ph.D. thesis, Stanford University, Department of Electrical Engineering, 1986.
  9. J. J. Slotine and S.S. Sastry, Tracking Control of Nonlinear Systems Using Sliding Surface, with Application to Robot Manipulators, Int. J. Control 38(2), 1983, 465-492. https://doi.org/10.1080/00207178308933088
  10. R. G. Morgan and U.Ozguner, A Decentralized Variable Structure Control Algorithm for Robotic Manipulators, IEEE J. of Robotics and Automation RA-1(1), 1985, 57-65 March.
  11. K. K. D. Young, A Variable Structure Model Following Control Design for Robotics Applications, IEEE J. of Robotics and Automation RA-4( 5), 1988, 556-561.
  12. A. Bellini, G. Figall, P. Pinello, and G. Vanniulivi, Realization of a Control Device for a Robotic Manipulator Based on Nonlinear Decoupling and Sliding Mode Control. IEEE Trans. on Industry Application IA-25(5), 1989, 790-799.
  13. K. S. Young and Y.P. Chen, Sliding mode Controller Design of a Single-link Flexible Manipulator Under Gravity, Int. J. Contr. 52(1), 1990, 101-117. https://doi.org/10.1080/00207179008953526
  14. S. Singh, Decentralized Variable Structure Control for Tracking in Non-linear Systems, Int. J. Contr. 52(4), 1990, 811-831. https://doi.org/10.1080/00207179008953570
  15. S. W. Wijesoma and R.J. Richards, Robust Trajectory Following of Robots Using Computed Torque Structure with VSS. Int.J. Contr. 52(4), 1990, 935-962. https://doi.org/10.1080/00207179008953575
  16. Y. F. Chen, T. Mita and S. Wakui, A New and Simple Algorithm for Sliding Mode Trajectory Control of the Robot Arm, IEEE Trans. on Automat. Contr. AC-33(7), 1990, 828-829.
  17. C. Abdallah, D. Dawson, P. Dorato and M. Jamshidi (1991) Survey of Robust Control for Rigid Robots IEEE Control System Magazine 11(2), 1991, 24-30. https://doi.org/10.1109/37.67672
  18. J. S. Lee and W.H. Kwon, A Hybrid Control Algorithm for Robotic Manipulator. Robotica(In print)
  19. D. M. Dawson, Qu, F.L. Lewis and J.F. Dorsey, Robust Control for the Tracking or Robust Motion, Int. J. Contr. 52(3), 1990, 581-595. https://doi.org/10.1080/00207179008953554
  20. S. R. Oh, Oh, Z.H. Bien and I. H. Suh, A Model Algorithmic Learning Method for Continuous-path Control of a Robot Manipulator. Robotica 8, Part 1. 1990, 31-36. https://doi.org/10.1017/S0263574700007293
  21. D. S. Yoo, M.J. Chung, and Z. N. Bien, Real-time Implementation and Evaluation of Dynamic Control Algorithms for Industrial Manipulators, IEEE Trans. on Indust. Electr. IE-38(1), 1991, 26-31.
  22. C. A. Desor and M. Vidyasagar, Feedback System: Input-Output Properties (Academic Press, New York, 1975).
  23. M. W. Spong, On the robust control of robot manipulators, IEEE Tran. On Automatic Control, 37, 1992, 1782-1786. https://doi.org/10.1109/9.173151
  24. K. M. Koo and J. H. Kim, Robust control of robot manipulators with parametric uncertainty, IEEE Tran. On Automatic Control, 39(6), 1994, 1230-1233. https://doi.org/10.1109/9.293183
  25. M. Ertugrul and O. Kaynak, Neural computation of the equivalent control in sliding mode for robot trajectory control applications, Proceeding of the 1998 IEEE Int. Conference on Robotics & Automation, 1998, 2042-2047.
  26. S. G. Tzafestas, Neural networks in robotics: state of art. IEEE Int. Conference on Industrial Electronics. 1995.