Hybrid Efficient Control Algorithms for Robot Manipulators

Abstract

In this report, we discuss accurate and robust sliding mode tracking control for highly nonlinear robot manipulators using a disturbance observer. To eliminate the chattering problem existed in conventional Sliding Mode Control (SMC) approach, which is caused by modeling errors and uncertainties. The efficient compensation of the disturbance observer has been introduced. The proposed sliding mode control is presented in two theorems. The bounded stability of the proposed control method is proven and the efficiency of the control algorithms has been demonstrated by simulations for a position tracking control of a two-link robot subject to parameter and payload uncertainties.

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Document Details

Document Type
Technical Report
Publication Date
Nov 01, 1991
Accession Number
ADA245716

Entities

People

  • Ju-jang Lee

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Compensation
  • Computations
  • Control
  • Control Surfaces
  • Control Systems
  • Dynamics
  • Electrical Engineering
  • Equations
  • Equations Of Motion
  • Equations Of State
  • Manipulators
  • Observers
  • Robots
  • Simulations
  • Trajectories
  • Uncertainty

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control