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 Sliding Manifold Approach to the Feedback Control of Rigid Robots
CAVALLO, Alberto;DE MARIA, Giuseppe;
1996
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
