A decentralised variable structure model following controller for robot manipulators

An algorithm for the trajectory control of robot manipulators be decentralized feedback is proposed. A decentralized model following controller is used that bypasses the complexities posed by the nonlinear, uncertain dynamics of manipulator, dealing instead with the simpler actuator dynamics and treating the joint torques as disturbances. The controller is simple computationally easy, and robust to parametric uncertainties and payload variations.<<ETX>>

[1]  D. Stoki,et al.  Brief paper: Practical stabilization of robotic systems by decentralized control , 1984 .

[2]  Ümit Özgüner,et al.  A decentralized variable structure control algorithm for robotic manipulators , 1985, IEEE J. Robotics Autom..

[3]  K. David Young,et al.  A variable structure model following control design for robotics applications , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[4]  Dragan Stokic,et al.  Analysis of the influence of actuator model complexity on manipulator control synthesis , 1983 .

[5]  Rahmatallah Shoureshi,et al.  Control of Industrial Manipulators With Bounded Uncertainties , 1987 .

[6]  Vadim I. Utkin,et al.  Sliding Modes and their Application in Variable Structure Systems , 1978 .

[7]  V. Utkin.  Variable structure systems with sliding modes , 1977 .

[8]  A. Morecki,et al.  Theory and Practice of Robots and Manipulators , 1985 .

[9]  Tien C. Hsia,et al.  Adaptive control of robot manipulators - A review , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[10]  Malur K. Sundareshan,et al.  Decentralized Model Reference Adaptive Control of Robotic Manipulators , 1985, 1985 American Control Conference.

[11]  Kar-Keung D. Young.  Controller Design for a Manipulator Using Theory of Variable Structure Systems , 1978, IEEE Transactions on Systems, Man, and Cybernetics.

[12]  L. Guzzella,et al.  Model following variable structure control for a class of uncertain machanical systems , 1986, 1986 25th IEEE Conference on Decision and Control.

[13]  Fumio Harashima,et al.  Practical robust control of robot arm using variable structure system , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.