Integral variable structure control approach for robot manipulators

1992 ◽  
Vol 139 (2) ◽  
pp. 161 ◽  
Author(s):  
T.-L. Chern ◽  
Y.-C. Wu
Keyword(s):  
Robot Manipulators ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Control Approach ◽  
Structure Control

Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion

1996 ◽  
Vol 118 (2) ◽  
pp. 327-332 ◽  
Author(s):  
Robert R. Y. Zhen ◽  
Andrew A. Goldenberg
Keyword(s):  
Control Method ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Hierarchical Control ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Control Algorithms ◽  
Constrained Motion ◽  
Structure Control

This paper addresses the problem of robust hybrid position and force control of robot manipulators. Variable structure control with sliding mode is used to implement the hybrid control strategy. Two variable structure control algorithms are developed in task space. One of the algorithms is based on hierarchical control method, and the other is developed for control of robot manipulators used to carried out both unconstrained and constrained tasks.

Variable Structure Control of an Underactuated Air Spindle Testbed

2004 ◽  
Author(s):  
Hashem Ashrafiuon
Keyword(s):  
Attitude Control ◽  
Degrees Of Freedom ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Vertical Axis ◽  
Lyapunov Theory ◽  
Control Approach ◽  
Structure Control ◽  
Sliding Surfaces ◽  
Air Spindle

A robust control algorithm is developed for attitude control of an air spindle testbed based on variable structure control. The variable structure control approach is formulated for underactuated systems with actuated accelerations as control inputs. First order sliding surfaces are defined per actuated degrees of freedom as a linear combination of the tracking position and velocity errors of both actuated and unactuated coordinates. The controller law is determined based on Lyapunov theory and is shown to be asymptotically stable for the tiled air spindle axis where gravitational effects are included but only marginally stable for the vertical axis. Multiple step sliding surfaces are proposed to achieve asymptotic stability in the latter case. Simulations of the controller performance verify its effectiveness and accuracy.

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