In this paper we propose a sliding manifold approach to the control of rigid robotic manipulators. We design a PD feedback controller via singular perturbation theory which guarantees the tracking of a reference trajectory. The control signal tends during a fast transient to the well-defined equivalent control with fast nonoscillating modes and then it remains close to this in the uniform topology. Then the resulting closed-loop system does not have the drawbacks of high-gain feedback systems, even if it retains robustness properties with respect to disturbances and plant parameter uncertainties. An application of the proposed procedure to a robotic system which includes actuator dynamics and tachometers is presented.
A., C., G., D.M., Nistri, P. (1996). A sliding manifold approach to the feedback control of rigid robots. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 6(6), 501-516.
A sliding manifold approach to the feedback control of rigid robots
NISTRI, PAOLO
1996-01-01
Abstract
In this paper we propose a sliding manifold approach to the control of rigid robotic manipulators. We design a PD feedback controller via singular perturbation theory which guarantees the tracking of a reference trajectory. The control signal tends during a fast transient to the well-defined equivalent control with fast nonoscillating modes and then it remains close to this in the uniform topology. Then the resulting closed-loop system does not have the drawbacks of high-gain feedback systems, even if it retains robustness properties with respect to disturbances and plant parameter uncertainties. An application of the proposed procedure to a robotic system which includes actuator dynamics and tachometers is presented.File | Dimensione | Formato | |
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https://hdl.handle.net/11365/7256
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