Integral variable structure control approach for robot manipulators. (English) Zbl 0770.93081
This paper presents an integral variable structure control (IVSC) method and applies it to robotic systems. The aim of IVSC is to achieve accurate servo-tracking in the presence of load variations and nonlinear dynamic interconnections. The IVSC approach comprises an integral controller for getting a zero steady-state error under step input and a variable structure controller (VSC) for achieving and enhancing robustness. A procedure is presented by which the control function is selected so that the existence of a sliding mode is guaranteed. The integral control gain is selected such that in overall the IVSC has the desired features. The chattering problem is overcome through the use of a modified proper smoothening function. Simulation results carried out on the PUMA 560 robot demonstrate the potential of the method.
Reviewer: S.G.Tzafestas (Athens)
MSC:
93D21 | Adaptive or robust stabilization |
93C85 | Automated systems (robots, etc.) in control theory |
93A99 | General systems theory |
93B12 | Variable structure systems |