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Variable structure adaptive control of robot manipulators
journal contribution
posted on 2023-06-07, 20:33 authored by H Yu, S LloydThe two main problems with variable-structure control are control input chattering and the assumption of known parameter uncertainty bounds, the second of which is studied. The robustness of a recently proposed variable-structure control approach with estimated bounds in the paper is first examined. Analysis of the proposed variable-structure adaptive control schemes is established in the Lyapunov sense. To improve robustness of algorithm 1, four new algorithms are proposed and a comparative study of these is presented. Algorithm 1 performs well without the other uncertainty disturbances except parameter uncertainty. However, it may lead to an unstable system if input disturbances exist. Algorithm 2 requires the upper bounds of the uncertainty parameters. Algorithm 3 has a good performance on robustness to input disturbances besides parameter uncertainty. However, the tracking errors of algorithm 3 do not converge to zero even without input disturbances. To improve this, two modifications of algorithm 3 are proposed. Algorithm 4 has good tracking performance and robustness but requires knowledge of the parameter uncertainty bounds. Algorithm 5 gives better tracking performance and using the same kinds of previous knowledge as in algorithms 1 and 3. Robustness of the proposed algorithms to input disturbances is investigated. Extensive comparative simulation results are presented to support the theoretical analysis of the paper
History
Publication status
- Published
Journal
IEE Proceedings: Control, Theory and ApplicationsISSN
1350-2379Publisher
Institution of Engineering and TechnologyExternal DOI
Issue
2Volume
144Page range
167-176ISBN
1350-2379Department affiliated with
- Engineering and Design Publications
Full text available
- No
Peer reviewed?
- Yes