Reduced Chatter Robot Manipulator Sliding Control: A Novel Multivariable Approach
Publish place: 19th Iranian Conference on Electric Engineering
Publish Year: 1390
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICEE19_491
تاریخ نمایه سازی: 14 مرداد 1391
Abstract:
This paper presents a new control approach based on sliding mode theory for robot manipulator. The presented control law includes a multivariable exponential function to eliminate the control signal chattering. Through a theorem, convergence of the states to the sliding surface and uniform global asymptotic stability of the proposed control system are guaranteed based on Lyapunov stability theorem for non-autonomous systems. The proposed approach decreases the tracking error while improves the system speed response and presents a satisfactory control performance as well. Simulating the control system for a 6DOF PUMA560 confirms the validity and effectiveness of the proposed approach.
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Authors
Mohammad Danesh
Isfahan University of Technology, Department of Mechanical Engineering
Ali Fattahi
Isfahan University of Technology, Department of Electrical and Computer Engineering
Maryam Zekri
Isfahan University of Technology, Department of Electrical and Computer Engineering
Farid Sheikholeslam
Isfahan University of Technology, Department of Electrical and Computer Engineering
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