Design of robust PD-sliding mode controller for robot position systems with parameter perturbations

M. N.A. Parlakçi, E. M. Jafarov, Y. Istefanopulos

Research output: Contribution to journalConference articlepeer-review


This paper introduces a new robust position variable structure controller design method for robot position systems with parameter perturbations. In most situations, the exact knowledge of the robot dynamics does not exist. For this reason a robust variable structure PD-conirol scheme is proposed for the set-point regulation problem of robot systems. The controller compensates the inexact information about the robot system. It uses only some robot bound parameters and measurable joint variables. The sufficient conditions are derived for the existence of a sliding mode in the robot system. The techniques of matrix norm inequalities are often addressed for robustness analysis of the controller. In addition, the stability conditions are also investigated in a global sense. Effective parameter-independent conditions are developed by using a full quadratic form of Lyapunov function. Simulation results have been presented indicating thai the control performance is satisfactory.

Original languageEnglish
Pages (from-to)105-110
Number of pages6
Issue number7
Publication statusPublished - 2003
Event3rd IFAC Workshop on Automatic Systems for Building the Infrastructure in Developing Countries, DECOM-TT 2003 - Istanbul, Turkey
Duration: 26 Jun 200328 Jun 2003

Bibliographical note

Publisher Copyright:
Copyright © 2003 IFAC.


  • Lyapunov full quadratic form
  • Parametric perturbations
  • PD-controller
  • Sliding mode conditions
  • Stability conditions


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