TY - JOUR
T1 - A new robust continuous sliding mode control for robot manipulators with parameter perturbations
AU - Istefanopulos, Yorgo
AU - Jafarov, Elbrous M.
AU - Parlakçi, M. N.Alpaslan
PY - 2002
Y1 - 2002
N2 - In this paper a new continuous sliding mode controller is designed for stabilization of robot manipulator systems with parameter perturbations. The sufficient conditions for the existence of a sliding mode in the robot system 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 globally asymptotic stability of the multivariable system using linear matrix inequalities (LMI) and principle of Rayleigh's min/max matrix eigenvalue inequality. The stability conditions are derived by using the Lyapunov full quadratic form. The parameter perturbations of the robot motion are evaluated by the Frobenius norm. Simulation results have shown that the control performance of the robot system is satisfactory.
AB - In this paper a new continuous sliding mode controller is designed for stabilization of robot manipulator systems with parameter perturbations. The sufficient conditions for the existence of a sliding mode in the robot system 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 globally asymptotic stability of the multivariable system using linear matrix inequalities (LMI) and principle of Rayleigh's min/max matrix eigenvalue inequality. The stability conditions are derived by using the Lyapunov full quadratic form. The parameter perturbations of the robot motion are evaluated by the Frobenius norm. Simulation results have shown that the control performance of the robot system is satisfactory.
KW - Continuous sliding mode control
KW - Lyapunov full quadratic form
KW - Parametric perturbations
KW - Robot control
UR - http://www.scopus.com/inward/record.url?scp=0036058884&partnerID=8YFLogxK
U2 - 10.1109/ACC.2002.1025283
DO - 10.1109/ACC.2002.1025283
M3 - Article
AN - SCOPUS:0036058884
SN - 0743-1619
VL - 4
SP - 3202
EP - 3206
JO - Proceedings of the American Control Conference
JF - Proceedings of the American Control Conference
ER -