A new variable structure PID-controller for robot manipulators with parameter perturbations: An augmented sliding surface approach

Elbrous M. Jafarov; Yorgo Istefanopulos; M. N.Alpaslan Parlakçi

doi:10.3182/20020721-6-es-1901.00873

A new variable structure PID-controller for robot manipulators with parameter perturbations: An augmented sliding surface approach

Elbrous M. Jafarov, Yorgo Istefanopulos, M. N.Alpaslan Parlakçi

Department of Aeronautical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

In this paper a new variable structure PID-controller is designed for stabilization of robot manipulator systems with parameter perturbations. The sufficient conditions for the existence of a sliding mode is considered. The techniques of matrix norm inequalities are used to cope with robustness issues. Some effective parameter-independent conditions are developed in a concise manner for the global asymptotic stability of the multivariable system using LMI's techniques and principle of Rayleigh's min/max matrix eigenvalue inequality. The stability conditions are derived by using the Lyapunov full quadratic form for the first time. The parameter perturbations of the robot motion are evaluated by introducing Frobenius norm. Simulation results have shown that the control performance of the robot system is satisfactory.

Original language	English
Title of host publication	IFAC Proceedings Volumes (IFAC-PapersOnline)
Editors	Gabriel Ferrate, Eduardo F. Camacho, Luis Basanez, Juan. A. de la Puente
Publisher	IFAC Secretariat
Pages	365-370
Number of pages	6
Edition	1
ISBN (Print)	9783902661746
DOIs	https://doi.org/10.3182/20020721-6-es-1901.00873
Publication status	Published - 2002
Event	15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain Duration: 21 Jul 2002 → 26 Jul 2002

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	1
Volume	15
ISSN (Print)	1474-6670

Conference

Conference	15th World Congress of the International Federation of Automatic Control, 2002
Country/Territory	Spain
City	Barcelona
Period	21/07/02 → 26/07/02

Bibliographical note

Publisher Copyright:
Copyright © 2002 IFAC.

Keywords

Lyapunov full quadratic form
PID variable structure control
Robot control
Sliding mode

Access to Document

10.3182/20020721-6-es-1901.00873

Cite this

Jafarov, E. M., Istefanopulos, Y., & Parlakçi, M. N. A. (2002). A new variable structure PID-controller for robot manipulators with parameter perturbations: An augmented sliding surface approach. In G. Ferrate, E. F. Camacho, L. Basanez, & J. A. de la Puente (Eds.), IFAC Proceedings Volumes (IFAC-PapersOnline) (1 ed., pp. 365-370). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 15, No. 1). IFAC Secretariat. https://doi.org/10.3182/20020721-6-es-1901.00873

Jafarov, Elbrous M. ; Istefanopulos, Yorgo ; Parlakçi, M. N.Alpaslan. / A new variable structure PID-controller for robot manipulators with parameter perturbations : An augmented sliding surface approach. IFAC Proceedings Volumes (IFAC-PapersOnline). editor / Gabriel Ferrate ; Eduardo F. Camacho ; Luis Basanez ; Juan. A. de la Puente. 1. ed. IFAC Secretariat, 2002. pp. 365-370 (IFAC Proceedings Volumes (IFAC-PapersOnline); 1).

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abstract = "In this paper a new variable structure PID-controller is designed for stabilization of robot manipulator systems with parameter perturbations. The sufficient conditions for the existence of a sliding mode is considered. The techniques of matrix norm inequalities are used to cope with robustness issues. Some effective parameter-independent conditions are developed in a concise manner for the global asymptotic stability of the multivariable system using LMI's techniques and principle of Rayleigh's min/max matrix eigenvalue inequality. The stability conditions are derived by using the Lyapunov full quadratic form for the first time. The parameter perturbations of the robot motion are evaluated by introducing Frobenius norm. Simulation results have shown that the control performance of the robot system is satisfactory.",

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Jafarov, EM, Istefanopulos, Y & Parlakçi, MNA 2002, A new variable structure PID-controller for robot manipulators with parameter perturbations: An augmented sliding surface approach. in G Ferrate, EF Camacho, L Basanez & JA de la Puente (eds), IFAC Proceedings Volumes (IFAC-PapersOnline). 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. 1, vol. 15, IFAC Secretariat, pp. 365-370, 15th World Congress of the International Federation of Automatic Control, 2002, Barcelona, Spain, 21/07/02. https://doi.org/10.3182/20020721-6-es-1901.00873

A new variable structure PID-controller for robot manipulators with parameter perturbations: An augmented sliding surface approach. / Jafarov, Elbrous M.; Istefanopulos, Yorgo; Parlakçi, M. N.Alpaslan.
IFAC Proceedings Volumes (IFAC-PapersOnline). ed. / Gabriel Ferrate; Eduardo F. Camacho; Luis Basanez; Juan. A. de la Puente. 1. ed. IFAC Secretariat, 2002. p. 365-370 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 15, No. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper a new variable structure PID-controller is designed for stabilization of robot manipulator systems with parameter perturbations. The sufficient conditions for the existence of a sliding mode is considered. The techniques of matrix norm inequalities are used to cope with robustness issues. Some effective parameter-independent conditions are developed in a concise manner for the global asymptotic stability of the multivariable system using LMI's techniques and principle of Rayleigh's min/max matrix eigenvalue inequality. The stability conditions are derived by using the Lyapunov full quadratic form for the first time. The parameter perturbations of the robot motion are evaluated by introducing Frobenius norm. Simulation results have shown that the control performance of the robot system is satisfactory.

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Jafarov EM, Istefanopulos Y, Parlakçi MNA. A new variable structure PID-controller for robot manipulators with parameter perturbations: An augmented sliding surface approach. In Ferrate G, Camacho EF, Basanez L, de la Puente JA, editors, IFAC Proceedings Volumes (IFAC-PapersOnline). 1 ed. IFAC Secretariat. 2002. p. 365-370. (IFAC Proceedings Volumes (IFAC-PapersOnline); 1). doi: 10.3182/20020721-6-es-1901.00873

A new variable structure PID-controller for robot manipulators with parameter perturbations: An augmented sliding surface approach

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Keywords

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