Chatter free variable structure perturbation estimator on the torque control of flexible robot joints with disturbance and parametric uncertainties

Jingxin Shi, Yu-Shen Lu

Research output: Contribution to conferencePaper

9 Citations (Scopus)

Abstract

A perturbation estimator using the theory of variable-structure systems is designed to enhance the robustness of a pole-placement controller design in the control of joint torque. In its ideal form, the pole-placement design using feedback-linearization technique achieves desired performance in nonlinear time-varying systems. However, its performance deteriorates rapidly with the presence of disturbance and parametric uncertainties, referred to as perturbation. The estimate generated by the proposed perturbation estimator is incorporated as an additional input to rectify the uncertainties in the nominal control model of the pole-placement design. The proposed scheme requires neither the measurement of the time derivative of state vector nor the precise knowledge of system parameters, but rather the bounds on system perturbation. Chatter and the adverse effects of conservative bounds on system perturbation, often encountered in conventional sliding-mode control (SMC), are alleviated for the controlled plant by this scheme.

Original languageEnglish
Pages238-243
Number of pages6
Publication statusPublished - 1996 Dec 1
EventProceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) - Taipei, Taiwan
Duration: 1996 Aug 51996 Aug 10

Other

OtherProceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3)
CityTaipei, Taiwan
Period96/8/596/8/10

Fingerprint

Torque control
Poles
Robots
Feedback linearization
Time varying systems
Sliding mode control
Robustness (control systems)
Torque
Derivatives
Controllers
Uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Shi, J., & Lu, Y-S. (1996). Chatter free variable structure perturbation estimator on the torque control of flexible robot joints with disturbance and parametric uncertainties. 238-243. Paper presented at Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3), Taipei, Taiwan, .

Chatter free variable structure perturbation estimator on the torque control of flexible robot joints with disturbance and parametric uncertainties. / Shi, Jingxin; Lu, Yu-Shen.

1996. 238-243 Paper presented at Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3), Taipei, Taiwan, .

Research output: Contribution to conferencePaper

Shi, J & Lu, Y-S 1996, 'Chatter free variable structure perturbation estimator on the torque control of flexible robot joints with disturbance and parametric uncertainties', Paper presented at Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3), Taipei, Taiwan, 96/8/5 - 96/8/10 pp. 238-243.
Shi J, Lu Y-S. Chatter free variable structure perturbation estimator on the torque control of flexible robot joints with disturbance and parametric uncertainties. 1996. Paper presented at Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3), Taipei, Taiwan, .
Shi, Jingxin ; Lu, Yu-Shen. / Chatter free variable structure perturbation estimator on the torque control of flexible robot joints with disturbance and parametric uncertainties. Paper presented at Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3), Taipei, Taiwan, .6 p.
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