{"title":"一种新的具有精确预定输出的机器人整体变结构调节控制器","authors":"Jung-Hoon Lee, M. Youn","doi":"10.1109/ISIE.1999.801809","DOIUrl":null,"url":null,"abstract":"In this paper, a new prescribed variable structure regulation controller is designed for highly nonlinear robot manipulators using an integral sliding surface and disturbance observer. With the sliding mode control algorithm, it is possible to guarantee the predetermined output within the prescribed accuracy based on the integral sliding surface especially for removing the reaching phase and the disturbance observer for efficient compensation. In regulation, the desired transient and steady state output is prescribed by means of the sliding dynamics, and the real output with the prescribed accuracy is controlled by the continuous input based on the sliding mode control with the disturbance observer, which are investigated through the two theorems together with the closed loop stability of the algorithm. The usefulness of the algorithm has been demonstrated by simulations about regulation controls of a two-link robot under parameter and payload uncertainties.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":"{\"title\":\"A new integral variable structure regulation controller for robot manipulators with accurately predetermined output\",\"authors\":\"Jung-Hoon Lee, M. Youn\",\"doi\":\"10.1109/ISIE.1999.801809\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a new prescribed variable structure regulation controller is designed for highly nonlinear robot manipulators using an integral sliding surface and disturbance observer. With the sliding mode control algorithm, it is possible to guarantee the predetermined output within the prescribed accuracy based on the integral sliding surface especially for removing the reaching phase and the disturbance observer for efficient compensation. In regulation, the desired transient and steady state output is prescribed by means of the sliding dynamics, and the real output with the prescribed accuracy is controlled by the continuous input based on the sliding mode control with the disturbance observer, which are investigated through the two theorems together with the closed loop stability of the algorithm. The usefulness of the algorithm has been demonstrated by simulations about regulation controls of a two-link robot under parameter and payload uncertainties.\",\"PeriodicalId\":227402,\"journal\":{\"name\":\"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1999-07-12\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"11\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISIE.1999.801809\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIE.1999.801809","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A new integral variable structure regulation controller for robot manipulators with accurately predetermined output
In this paper, a new prescribed variable structure regulation controller is designed for highly nonlinear robot manipulators using an integral sliding surface and disturbance observer. With the sliding mode control algorithm, it is possible to guarantee the predetermined output within the prescribed accuracy based on the integral sliding surface especially for removing the reaching phase and the disturbance observer for efficient compensation. In regulation, the desired transient and steady state output is prescribed by means of the sliding dynamics, and the real output with the prescribed accuracy is controlled by the continuous input based on the sliding mode control with the disturbance observer, which are investigated through the two theorems together with the closed loop stability of the algorithm. The usefulness of the algorithm has been demonstrated by simulations about regulation controls of a two-link robot under parameter and payload uncertainties.