Sliding mode control with perturbation estimation: application on DD robot mechanism /
In this work another perturbation estimation sliding mode based control algorithm is introduced for a class of robotic systems in the presence of structured and unstructured uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity. A full order...
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| Main Authors: | , |
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| Format: | Book Chapter |
| Jezik: | English |
| Teme: | |
| Sorodne knjige/članki: | Vsebovano v:
Robotica |
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| Izvleček: | In this work another perturbation estimation sliding mode based control algorithm is introduced for a class of robotic systems in the presence of structured and unstructured uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity. A full order device with the actuator voltages as control inputs is assumed in control design. The decentralized control scheme with only a partial state feedback is applied. A modification of the switching functions with perturbation estimation is introduced. The salient features of this approach is that the perturbations are effectively treated by a computationally straighforward procedure. The proposed controller is applied to a minimal configuration direct drive robot mechanism. |
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| Fizični opis: | str. 641-648. |
| Bibliografija: | Summary. |
| ISSN: | 0263-5747 |