Variable structure control of manipulator using linear time-varying sliding surfaces

Heejin Lee, Hyunseok Shin, Euntai Kim, Seungwoo Kim, Mignon Park

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

This paper proposes a new variable structure controller(VSC) for the accurate tracking control of a robot manipulator using the variable boundary layer. Up to now, VSC applying the variable boundary layer did not remove chattering from an arbitrary initial state of the system trajectory because VSC has used the fixed sliding surface. But, by using the linear time-varying sliding surfaces, the scheme has the robustness against chattering from all states. This scheme can be applied to the second-order nonlinear systems with parameter uncertainty and extraneous disturbances, and have better tracking performance than the conventional method. To demonstrate its performance, the proposed control algorithm is applied to a two-link manipulator.

Original languageEnglish
Pages806-811
Number of pages6
Publication statusPublished - 1998 Dec 1
EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
Duration: 1998 Oct 131998 Oct 17

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period98/10/1398/10/17

Fingerprint

Variable structure control
Manipulators
Controllers
Boundary layers
Nonlinear systems
Trajectories
Robots

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Lee, H., Shin, H., Kim, E., Kim, S., & Park, M. (1998). Variable structure control of manipulator using linear time-varying sliding surfaces. 806-811. Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .
Lee, Heejin ; Shin, Hyunseok ; Kim, Euntai ; Kim, Seungwoo ; Park, Mignon. / Variable structure control of manipulator using linear time-varying sliding surfaces. Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .6 p.
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Lee, H, Shin, H, Kim, E, Kim, S & Park, M 1998, 'Variable structure control of manipulator using linear time-varying sliding surfaces', Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, 98/10/13 - 98/10/17 pp. 806-811.

Variable structure control of manipulator using linear time-varying sliding surfaces. / Lee, Heejin; Shin, Hyunseok; Kim, Euntai; Kim, Seungwoo; Park, Mignon.

1998. 806-811 Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .

Research output: Contribution to conferencePaper

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AB - This paper proposes a new variable structure controller(VSC) for the accurate tracking control of a robot manipulator using the variable boundary layer. Up to now, VSC applying the variable boundary layer did not remove chattering from an arbitrary initial state of the system trajectory because VSC has used the fixed sliding surface. But, by using the linear time-varying sliding surfaces, the scheme has the robustness against chattering from all states. This scheme can be applied to the second-order nonlinear systems with parameter uncertainty and extraneous disturbances, and have better tracking performance than the conventional method. To demonstrate its performance, the proposed control algorithm is applied to a two-link manipulator.

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Lee H, Shin H, Kim E, Kim S, Park M. Variable structure control of manipulator using linear time-varying sliding surfaces. 1998. Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .