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Titre: | A variable structure control system for a 6 dof puma 560 robot manipulator |
Auteur(s): | Abdessameud, A. Khelfi, M. F. |
Mots-clés: | Variable Structure Observers Switching-type observers 6 DOF PUMA560 robot manipulator Exponential stability |
Date de publication: | 2007 |
Editeur: | ESR Groups |
Collection/Numéro: | J. Automation & Systems Engineering/ Vol.1, N°1 (2007);pp. 1-11 |
Résumé: | This paper deals with the application of a variable structure observer developed for a class of
nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The
considered observer design approach proposes a simple design methodology for systems having
completely observable linear parts and bounded nonlinearities and/or uncertainties. The
considered observer is basically the conventional Luenberger observer with an additional
switching term that is used to guarantee robustness against modeling errors and system
uncertainties. We propose to modify this observer structure and use the system nonlinearities in
the observer structure under the Lipschitz condition. To solve the tracking problem, we have used
a control law developed for robot manipulators in the full information case. The closed loop
system is shown to be globally asymptotically stable based on Lyapunov arguments. Simulation
results on a six D-O-F robot manipulator show the asymptotic convergence of the observation and
tracking error vectors |
URI/URL: | http://dlibrary.univ-boumerdes.dz:8080123456789/2050 |
ISSN: | 1112-8542 |
Collection(s) : | Publications Nationales
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